hpp-manipulation 4.15.1
Classes for manipulation planning.
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roadmap-node.hh
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1// Copyright (c) 2014 CNRS
2// Authors: Joseph Mirabel
3//
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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28// DAMAGE.
29
30#ifndef HPP_MANIPULATION_ROADMAP_NODE_HH
31#define HPP_MANIPULATION_ROADMAP_NODE_HH
32
33#include <hpp/core/node.hh>
39
40namespace hpp {
41namespace manipulation {
42class HPP_MANIPULATION_DLLAPI RoadmapNode : public core::Node {
43 public:
44 RoadmapNode(const ConfigurationPtr_t& configuration)
45 : core::Node(configuration), state_() {}
46
47 RoadmapNode(const ConfigurationPtr_t& configuration,
49
52
54 bool cacheUpToDate() const { return static_cast<bool>(graphState()); }
55
57 graph::StatePtr_t graphState() const { return state_.lock(); }
58
60 void graphState(const graph::StatePtr_t& state) { state_ = state; }
62
64 leafCC_ = sc;
65 }
66
68
69 private:
70 graph::StateWkPtr_t state_;
72
73 RoadmapNode() {}
74 HPP_SERIALIZABLE();
75};
76} // namespace manipulation
77} // namespace hpp
78
79#endif // HPP_MANIPULATION_ROADMAP_NODE_HH
Definition: roadmap-node.hh:42
LeafConnectedCompPtr_t leafConnectedComponent() const
Definition: roadmap-node.hh:67
RoadmapNode(const ConfigurationPtr_t &configuration)
Definition: roadmap-node.hh:44
void leafConnectedComponent(const LeafConnectedCompPtr_t &sc)
Definition: roadmap-node.hh:63
RoadmapNode(const ConfigurationPtr_t &configuration, ConnectedComponentPtr_t cc)
bool cacheUpToDate() const
Get the caching system being used.
Definition: roadmap-node.hh:54
graph::StatePtr_t graphState() const
Getter for the graph::State.
Definition: roadmap-node.hh:57
void graphState(const graph::StatePtr_t &state)
Setter for the graph::State.
Definition: roadmap-node.hh:60
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
shared_ptr< State > StatePtr_t
Definition: fwd.hh:48
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:51
shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:76
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:74
Definition: main.hh:1