graph-component.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// DAMAGE.
 
#ifndef HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
#define HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
 
#include <ostream>
#include <string>
 
#include "hpp/manipulation/config.hh"
#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/dot.hh"
#include "hpp/manipulation/graph/fwd.hh"
 
namespace hpp {
namespace manipulation {
typedef constraints::ImplicitPtr_t ImplicitPtr_t;
namespace graph {
 
 
class HPP_MANIPULATION_DLLAPI GraphComponent {
 public:
  virtual ~GraphComponent() {};
 
  const std::string& name() const;
 
  const std::size_t& id() const { return id_; }
 
  virtual void addNumericalConstraint(const ImplicitPtr_t& numConstraint);
 
  virtual void addNumericalCost(const ImplicitPtr_t& numCost);
 
  virtual void resetNumericalConstraints();
 
  bool insertNumericalConstraints(ConfigProjectorPtr_t& proj) const;
 
  const NumericalConstraints_t& numericalConstraints() const;
 
  const NumericalConstraints_t& numericalCosts() const;
 
  void parentGraph(const GraphWkPtr_t& parent);
 
  GraphPtr_t parentGraph() const;
 
  virtual std::ostream& dotPrint(
      std::ostream& os,
      dot::DrawingAttributes da = dot::DrawingAttributes()) const;
 
  virtual void invalidate() { isInit_ = false; }
 
  void solveLevelByLevel(bool solveLevelByLevel) {
    solveLevelByLevel_ = solveLevelByLevel;
  }
 
  bool solveLevelByLevel() const { return solveLevelByLevel_; }
 
 protected:
  void init(const GraphComponentWkPtr_t& weak);
 
  GraphComponent(const std::string& name)
      : isInit_(false), name_(name), id_(-1), solveLevelByLevel_(false) {}
 
  NumericalConstraints_t numericalConstraints_;
  NumericalConstraints_t numericalCosts_;
  GraphWkPtr_t graph_;
 
  bool isInit_;
 
  void throwIfNotInitialized() const;
 
  virtual std::ostream& print(std::ostream& os) const;
  friend std::ostream& operator<<(std::ostream&, const GraphComponent&);
 
  virtual void populateTooltip(dot::Tooltip& tp) const;
 
  virtual void initialize() = 0;
 
 private:
  std::string name_;
  GraphComponentWkPtr_t wkPtr_;
  std::size_t id_;
  bool solveLevelByLevel_;
  friend class Graph;
};
 
std::ostream& operator<<(std::ostream& os, const GraphComponent& graphComp);
 
}  // namespace graph
}  // namespace manipulation
 
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH