#include <hpp/manipulation/roadmap.hh>

Inheritance diagram for hpp::manipulation::Roadmap:

Collaboration diagram for hpp::manipulation::Roadmap:

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

Public Member Functions inherited from hpp::core::Roadmap
NodePtr_t	addNode (ConfigurationIn_t config)

NodePtr_t	nearestNode (ConfigurationIn_t configuration, value_type &minDistance, bool reverse=false)

NodePtr_t	nearestNode (ConfigurationIn_t configuration, const ConnectedComponentPtr_t &connectedComponent, value_type &minDistance, bool reverse=false)

Nodes_t	nearestNodes (ConfigurationIn_t configuration, size_type k)

Nodes_t	nearestNodes (ConfigurationIn_t configuration, const ConnectedComponentPtr_t &connectedComponent, size_type k)

NodeVector_t	nodesWithinBall (ConfigurationIn_t configuration, const ConnectedComponentPtr_t &connectedComponent, value_type maxDistance)

NodePtr_t	addNodeAndEdges (const NodePtr_t from, ConfigurationIn_t to, const PathPtr_t path)

NodePtr_t	addNodeAndEdge (const NodePtr_t from, ConfigurationIn_t to, const PathPtr_t path)

NodePtr_t	addNodeAndEdge (ConfigurationIn_t from, const NodePtr_t to, const PathPtr_t path)

EdgePtr_t	addEdge (const NodePtr_t &n1, const NodePtr_t &n2, const PathPtr_t &path)

void	addEdges (const NodePtr_t from, const NodePtr_t &to, const PathPtr_t &path)

void	merge (const RoadmapPtr_t &other)

void	insertPathVector (const PathVectorPtr_t &path, bool backAndForth)

NodePtr_t	addGoalNode (ConfigurationIn_t config)

void	resetGoalNodes ()

void	initNode (ConfigurationIn_t config)

virtual	~Roadmap ()

bool	pathExists () const

const Nodes_t &	nodes () const

const Edges_t &	edges () const

NodePtr_t	initNode () const

const NodeVector_t &	goalNodes () const

const ConnectedComponents_t &	connectedComponents () const

NearestNeighborPtr_t	nearestNeighbor ()

void	nearestNeighbor (NearestNeighborPtr_t nearestNeighbor)

std::ostream &	print (std::ostream &os) const

const DistancePtr_t &	distance () const

const path::CostPtr_t	cost () const

void	cost (const path::CostPtr_t &cost)

const DistancePtr_t &	distance () const

const path::CostPtr_t	cost () const

void	cost (const path::CostPtr_t &cost)

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.

Static Public Member Functions inherited from hpp::core::Roadmap
static RoadmapPtr_t	create (const DistancePtr_t &distance, const DevicePtr_t &robot)

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)

Protected Member Functions inherited from hpp::core::Roadmap
	Roadmap (const DistancePtr_t &distance, const DevicePtr_t &robot)

	Roadmap ()

void	addConnectedComponent (const NodePtr_t &node)

void	init (RoadmapWkPtr_t weak)

Detailed Description

Extension of hpp::core::Roadmap. It adds the ability of doing statistics on the graph

Member Typedef Documentation

◆ Parent

typedef core::Roadmap hpp::manipulation::Roadmap::Parent

Constructor & Destructor Documentation

◆ Roadmap()

hpp::manipulation::Roadmap::Roadmap	(	const core::DistancePtr_t &	distance,
		const core::DevicePtr_t &	robot
	)

protected

Constructor.

Member Function Documentation

◆ clear()

void hpp::manipulation::Roadmap::clear ( )

virtual

Clear the histograms and call parent implementation.

Reimplemented from hpp::core::Roadmap.

◆ connect()

void hpp::manipulation::Roadmap::connect	(	const LeafConnectedCompPtr_t &	cc1,
		const LeafConnectedCompPtr_t &	cc2
	)

Update the graph of connected components after new connection

Parameters

cc1,cc2 the two connected components that have just been connected.

◆ constraintGraph()

void hpp::manipulation::Roadmap::constraintGraph ( const graph::GraphPtr_t & graph )

Register the constraint graph to do statistics.

◆ create()

static RoadmapPtr_t hpp::manipulation::Roadmap::create	(	const core::DistancePtr_t &	distance,
		const core::DevicePtr_t &	robot
	)

static

Return a shared pointer to a new instance.

◆ createNode()

core::NodePtr_t hpp::manipulation::Roadmap::createNode ( ConfigurationIn_t config ) const

protectedvirtual

Node factory.

Reimplemented from hpp::core::Roadmap.

◆ getState()

graph::StatePtr_t hpp::manipulation::Roadmap::getState ( RoadmapNodePtr_t node )

Get graph state corresponding to given roadmap node.

◆ impl_addEdge()

virtual void hpp::manipulation::Roadmap::impl_addEdge ( const core::EdgePtr_t & edge )

protectedvirtual

Reimplemented from hpp::core::Roadmap.

◆ init()

void hpp::manipulation::Roadmap::init ( const RoadmapPtr_t & shPtr )

inlineprotected

◆ insertHistogram()

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

◆ leafConnectedComponents()

const LeafConnectedComps_t & hpp::manipulation::Roadmap::leafConnectedComponents ( ) const

inline

Get leaf connected components

Leaf connected components are composed of nodes

belonging to the same connected component of the roadmap and,
lying in the same leaf of a transition.

◆ merge()

void hpp::manipulation::Roadmap::merge	(	const LeafConnectedCompPtr_t &	cc1,
		LeafConnectedComp::LeafConnectedComps_t &	ccs
	)

Merge two connected components

Parameters

cc1	the connected component to merge into
the	connected components to merge into cc1.

◆ nearestNodeInState()

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.

◆ push_node()

void hpp::manipulation::Roadmap::push_node ( const core::NodePtr_t & n )

virtual

Catch event 'New node added'.

Reimplemented from hpp::core::Roadmap.

◆ statInsert()

void hpp::manipulation::Roadmap::statInsert ( const RoadmapNodePtr_t & n )

protected

Register a new configuration.

The documentation for this class was generated from the following file:

include/hpp/manipulation/roadmap.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ Parent

Constructor & Destructor Documentation

◆ Roadmap()

Member Function Documentation

◆ clear()

◆ connect()

◆ constraintGraph()

◆ create()

◆ createNode()

◆ getState()

◆ impl_addEdge()

◆ init()

◆ insertHistogram()

◆ leafConnectedComponents()

◆ merge()

◆ nearestNodeInState()

◆ push_node()

◆ statInsert()