17 #ifndef HPP_MANIPULATION_GRAPH_STATE_SELECTOR_HH
18 # define HPP_MANIPULATION_GRAPH_STATE_SELECTOR_HH
26 namespace manipulation {
38 const std::string&
name()
const
80 virtual std::ostream&
print (std::ostream& os)
const;
Definition: roadmap-node.hh:33
Definition: state-selector.hh:31
StatePtr_t getState(ConfigurationIn_t config) const
Returns the state of a configuration.
virtual std::ostream & print(std::ostream &os) const
Print the object in a stream.
virtual std::ostream & dotPrint(std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
Print the object in a stream.
virtual ~StateSelector()
Definition: state-selector.hh:33
void parentGraph(const GraphWkPtr_t &parent)
Set the parent graph.
StateSelector(const std::string &name)
Constructor.
Definition: state-selector.hh:76
std::pair< int, StatePtr_t > WeighedState_t
List of the states of one end-effector, ordered by priority.
Definition: state-selector.hh:83
States_t getStates() const
Returns a list of all the states.
void init(const StateSelectorPtr_t &weak)
Initialization of the object.
States_t waypoints_
Definition: state-selector.hh:86
virtual EdgePtr_t chooseEdge(RoadmapNodePtr_t from) const
Select randomly an outgoing edge of the given state.
StatePtr_t getState(RoadmapNodePtr_t node) const
Returns the state of a roadmap state.
WeighedStates_t orderedStates_
Definition: state-selector.hh:85
States_t getWaypointStates() const
Returns a list of all the states.
static StateSelectorPtr_t create(const std::string &name)
Create a new StateSelector.
StatePtr_t createState(const std::string &name, bool waypoint=false, const int w=0)
Create an empty state.
GraphPtr_t parentGraph() const
Set the parent graph.
std::list< WeighedState_t > WeighedStates_t
Definition: state-selector.hh:84
const std::string & name() const
Definition: state-selector.hh:38
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
std::ostream & operator<<(std::ostream &os, const GraphComponent &graphComp)
std::vector< StatePtr_t > States_t
Definition: fwd.hh:45
shared_ptr< StateSelector > StateSelectorPtr_t
Definition: fwd.hh:40
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38