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hpp-manipulation 6.0.0
Classes for manipulation planning.
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#include <hpp/manipulation/roadmap.hh>


Public Types | |
| typedef core::Roadmap | Parent |
Public Member Functions | |
| void | insertHistogram (const graph::HistogramPtr_t hist) |
| void | constraintGraph (const graph::GraphPtr_t &graph) |
| Register the constraint graph to do statistics. | |
| void | clear () |
| Clear the histograms and call parent implementation. | |
| void | push_node (const core::NodePtr_t &n) |
| Catch event 'New node added'. | |
| RoadmapNodePtr_t | nearestNodeInState (ConfigurationIn_t configuration, const ConnectedComponentPtr_t &connectedComponent, const graph::StatePtr_t &state, value_type &minDistance) const |
| void | connect (const LeafConnectedCompPtr_t &cc1, const LeafConnectedCompPtr_t &cc2) |
| void | merge (const LeafConnectedCompPtr_t &cc1, LeafConnectedComp::LeafConnectedComps_t &ccs) |
| graph::StatePtr_t | getState (RoadmapNodePtr_t node) |
| Get graph state corresponding to given roadmap node. | |
| const LeafConnectedComps_t & | leafConnectedComponents () const |
Static Public Member Functions | |
| static RoadmapPtr_t | create (const core::DistancePtr_t &distance, const core::DevicePtr_t &robot) |
| Return a shared pointer to a new instance. | |
Protected Member Functions | |
| void | statInsert (const RoadmapNodePtr_t &n) |
| Register a new configuration. | |
| Roadmap (const core::DistancePtr_t &distance, const core::DevicePtr_t &robot) | |
| Constructor. | |
| core::NodePtr_t | createNode (ConfigurationIn_t config) const |
| Node factory. | |
| void | init (const RoadmapPtr_t &shPtr) |
| virtual void | impl_addEdge (const core::EdgePtr_t &edge) |
Extension of hpp::core::Roadmap. It adds the ability of doing statistics on the graph
| typedef core::Roadmap hpp::manipulation::Roadmap::Parent |
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protected |
Constructor.
| void hpp::manipulation::Roadmap::clear | ( | ) |
Clear the histograms and call parent implementation.
| void hpp::manipulation::Roadmap::connect | ( | const LeafConnectedCompPtr_t & | cc1, |
| const LeafConnectedCompPtr_t & | cc2 | ||
| ) |
Update the graph of connected components after new connection
| cc1,cc2 | the two connected components that have just been connected. |
| void hpp::manipulation::Roadmap::constraintGraph | ( | const graph::GraphPtr_t & | graph | ) |
Register the constraint graph to do statistics.
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static |
Return a shared pointer to a new instance.
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protected |
Node factory.
| graph::StatePtr_t hpp::manipulation::Roadmap::getState | ( | RoadmapNodePtr_t | node | ) |
Get graph state corresponding to given roadmap node.
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protectedvirtual |
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inlineprotected |
| void hpp::manipulation::Roadmap::insertHistogram | ( | const graph::HistogramPtr_t | hist | ) |
Register histogram so that each time a node is added to the roadmap, it is also added to the histogram
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inline |
Get leaf connected components
Leaf connected components are composed of nodes
| void hpp::manipulation::Roadmap::merge | ( | const LeafConnectedCompPtr_t & | cc1, |
| LeafConnectedComp::LeafConnectedComps_t & | ccs | ||
| ) |
Merge two connected components
| cc1 | the connected component to merge into |
| the | connected components to merge into cc1. |
| RoadmapNodePtr_t hpp::manipulation::Roadmap::nearestNodeInState | ( | ConfigurationIn_t | configuration, |
| const ConnectedComponentPtr_t & | connectedComponent, | ||
| const graph::StatePtr_t & | state, | ||
| value_type & | minDistance | ||
| ) | const |
Get the nearest neighbor in a given graph::Node and in a given ConnectedComponent.
| void hpp::manipulation::Roadmap::push_node | ( | const core::NodePtr_t & | n | ) |
Catch event 'New node added'.
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protected |
Register a new configuration.