hpp::manipulation::graph::Edge Class Reference

Abstract class representing representing the link between two nodes. More...

#include <hpp/manipulation/graph/edge.hh>

Inheritance diagram for hpp::manipulation::graph::Edge:
Collaboration diagram for hpp::manipulation::graph::Edge:

List of all members.

Public Member Functions

 ~Edge ()
 Destructor.
virtual bool applyConstraints (core::NodePtr_t nnear, ConfigurationOut_t q) const
virtual bool applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const
virtual bool build (core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2, const core::WeighedDistance &d) const
NodePtr_t to () const
 Get the destination.
NodePtr_t from () const
 Get the origin.
virtual NodePtr_t node () const
 Get the node in which path is.
void isInNodeFrom (bool iinf)
bool isInNodeFrom () const
virtual std::ostream & dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
 Print the object in a stream.

Static Public Member Functions

static EdgePtr_t create (const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to)
 Create a new empty Edge.

Protected Member Functions

void init (const EdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to)
 Initialization of the object.
 Edge ()
 Constructor.
ConstraintSetPtr_t configConstraint () const
 Constraint to project onto the same leaf as config.
ConstraintSetPtr_t pathConstraint () const
 Constraint to project a path.
virtual ConstraintSetPtr_t buildConfigConstraint () const
virtual ConstraintSetPtr_t buildPathConstraint () const
virtual std::ostream & print (std::ostream &os) const
 Print the object in a stream.

Friends

class Graph

Detailed Description

Abstract class representing representing the link between two nodes.


Constructor & Destructor Documentation

hpp::manipulation::graph::Edge::~Edge ( )

Destructor.

hpp::manipulation::graph::Edge::Edge ( ) [protected]

Constructor.


Member Function Documentation

virtual bool hpp::manipulation::graph::Edge::applyConstraints ( core::NodePtr_t  nnear,
ConfigurationOut_t  q 
) const [virtual]
virtual bool hpp::manipulation::graph::Edge::applyConstraints ( ConfigurationIn_t  qoffset,
ConfigurationOut_t  q 
) const [virtual]
virtual bool hpp::manipulation::graph::Edge::build ( core::PathPtr_t &  path,
ConfigurationIn_t  q1,
ConfigurationIn_t  q2,
const core::WeighedDistance &  d 
) const [virtual]
virtual ConstraintSetPtr_t hpp::manipulation::graph::Edge::buildConfigConstraint ( ) const [protected, virtual]
virtual ConstraintSetPtr_t hpp::manipulation::graph::Edge::buildPathConstraint ( ) const [protected, virtual]
ConstraintSetPtr_t hpp::manipulation::graph::Edge::configConstraint ( ) const [protected]

Constraint to project onto the same leaf as config.

Returns:
The initialized projector.
static EdgePtr_t hpp::manipulation::graph::Edge::create ( const GraphWkPtr_t &  graph,
const NodeWkPtr_t &  from,
const NodeWkPtr_t &  to 
) [static]
virtual std::ostream& hpp::manipulation::graph::Edge::dotPrint ( std::ostream &  os,
dot::DrawingAttributes  da = dot::DrawingAttributes() 
) const [virtual]
NodePtr_t hpp::manipulation::graph::Edge::from ( ) const

Get the origin.

void hpp::manipulation::graph::Edge::init ( const EdgeWkPtr_t &  weak,
const GraphWkPtr_t &  graph,
const NodeWkPtr_t &  from,
const NodeWkPtr_t &  to 
) [protected]

Initialization of the object.

Reimplemented in hpp::manipulation::graph::LevelSetEdge, and hpp::manipulation::graph::WaypointEdge.

void hpp::manipulation::graph::Edge::isInNodeFrom ( bool  iinf) [inline]
bool hpp::manipulation::graph::Edge::isInNodeFrom ( ) const [inline]
virtual NodePtr_t hpp::manipulation::graph::Edge::node ( ) const [virtual]

Get the node in which path is.

Reimplemented in hpp::manipulation::graph::WaypointEdge.

ConstraintSetPtr_t hpp::manipulation::graph::Edge::pathConstraint ( ) const [protected]

Constraint to project a path.

Returns:
The initialized constraint.
virtual std::ostream& hpp::manipulation::graph::Edge::print ( std::ostream &  os) const [protected, virtual]
NodePtr_t hpp::manipulation::graph::Edge::to ( ) const

Get the destination.


Friends And Related Function Documentation

friend class Graph [friend]