29 #ifndef HPP_MANIPULATION_GRAPH_GRAPH_HH 30 #define HPP_MANIPULATION_GRAPH_GRAPH_HH 41 namespace manipulation {
95 void clearConstraintsAndComplement();
110 void registerConstraints(
const ImplicitPtr_t& constraint,
111 const ImplicitPtr_t& complement,
112 const ImplicitPtr_t& both);
125 bool isComplement(
const ImplicitPtr_t& constraint,
126 const ImplicitPtr_t& complement,
127 ImplicitPtr_t& combinationOfBoth)
const;
214 void maxIterations(
size_type iterations);
220 void errorThreshold(
const value_type& threshold);
236 hists_.push_back(hist);
243 GraphComponentWkPtr_t
get(std::size_t id)
const;
248 virtual std::ostream& dotPrint(
253 virtual void initialize();
256 virtual void invalidate();
260 void init(
const GraphWkPtr_t& weak,
DevicePtr_t robot);
267 std::ostream& print(std::ostream& os)
const;
290 typedef std::map<StatePtr_t, ConstraintSetPtr_t> MapFromState;
291 typedef std::pair<StatePtr_t, ConstraintSetPtr_t> PairStateConstraints;
292 MapFromState constraintSetMapFromState_;
298 typedef std::map<EdgePtr_t, ConstraintSetPtr_t> MapFromEdge;
299 typedef std::pair<EdgePtr_t, ConstraintSetPtr_t> PairEdgeConstraints;
300 MapFromEdge cfgConstraintSetMapFromEdge_, pathConstraintSetMapFromEdge_;
317 #endif // HPP_MANIPULATION_GRAPH_GRAPH_HH std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:57
StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:206
const Histograms_t & histograms() const
Get the histograms.
Definition: graph.hh:240
shared_ptr< StateSelector > StateSelectorPtr_t
Definition: fwd.hh:52
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
core::vector_t vector_t
Definition: fwd.hh:93
shared_ptr< Histogram > HistogramPtr_t
Definition: fwd.hh:69
core::value_type value_type
Definition: fwd.hh:90
void insertHistogram(const graph::HistogramPtr_t &hist)
Register an histogram representing a foliation.
Definition: graph.hh:235
std::vector< ConstraintAndComplement_t > ConstraintsAndComplements_t
Definition: constraint-set.hh:87
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
core::ConstraintPtr_t ConstraintPtr_t
Definition: fwd.hh:113
std::size_t nbComponents() const
Definition: graph.hh:245
std::list< HistogramPtr_t > Histograms_t
Definition: fwd.hh:73
StateSelectorPtr_t stateSelector() const
Get the state selector.
Definition: graph.hh:79
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:66
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:123
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:116
core::size_type size_type
Definition: fwd.hh:91
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:40
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:47
Define common methods of the graph components.
Definition: graph-component.hh:51
std::vector< GraphComponentWkPtr_t > GraphComponents_t
Definition: fwd.hh:55
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:49
shared_ptr< State > StatePtr_t
Definition: fwd.hh:48
Definition: roadmap-node.hh:42