30 #ifndef HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH 31 #define HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH 39 namespace manipulation {
74 assert(!nodes_.empty());
75 return nodes_.front()->connectedComponent();
89 void init(
const LeafConnectedCompWkPtr_t& shPtr) { weak_ = shPtr; }
98 static void clean(LeafConnectedComps_t&
set);
100 mutable bool explored_;
101 RoadmapWkPtr_t roadmap_;
102 LeafConnectedComps_t to_, from_;
103 LeafConnectedCompWkPtr_t weak_;
140 #endif // HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
const RoadmapNodes_t & nodes() const
Definition: leaf-connected-comp.hh:78
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:69
std::set< RawPtr_t > LeafConnectedComps_t
Definition: leaf-connected-comp.hh:47
core::vector_t vector_t
Definition: fwd.hh:93
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:74
shared_ptr< WeighedLeafConnectedComp > WeighedLeafConnectedCompPtr_t
Definition: fwd.hh:80
Definition: leaf-connected-comp.hh:44
core::value_type value_type
Definition: fwd.hh:90
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
LeafConnectedComp()
For serialization only.
Definition: leaf-connected-comp.hh:95
shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:76
void init(const LeafConnectedCompWkPtr_t &shPtr)
Definition: leaf-connected-comp.hh:89
LeafConnectedComp * RawPtr_t
Definition: leaf-connected-comp.hh:46
value_type weight_
Definition: leaf-connected-comp.hh:125
WeighedLeafConnectedComp(const RoadmapPtr_t &r)
Definition: leaf-connected-comp.hh:131
const LeafConnectedComp::LeafConnectedComps_t & from() const
Definition: leaf-connected-comp.hh:82
RoadmapNodes_t nodes_
Definition: leaf-connected-comp.hh:92
Definition: roadmap.hh:47
core::ConnectedComponentPtr_t connectedComponent() const
Definition: leaf-connected-comp.hh:73
std::vector< RoadmapNodePtr_t > RoadmapNodes_t
Definition: fwd.hh:72
graph::StatePtr_t state_
Definition: leaf-connected-comp.hh:91
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:49
shared_ptr< State > StatePtr_t
Definition: fwd.hh:48
Definition: leaf-connected-comp.hh:109
void normalizeProba()
Definition: leaf-connected-comp.hh:120
LeafConnectedComp(const RoadmapPtr_t &r)
Definition: leaf-connected-comp.hh:87
vector_t p_
Transition probabilities.
Definition: leaf-connected-comp.hh:127
std::vector< graph::EdgePtr_t > edges_
Definition: leaf-connected-comp.hh:128
const LeafConnectedComp::LeafConnectedComps_t & to() const
Definition: leaf-connected-comp.hh:84
Definition: roadmap-node.hh:42