17 #ifndef HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH 18 # define HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH 30 namespace manipulation {
45 const std::string& name()
const;
48 const std::size_t&
id ()
const 54 virtual void addNumericalConstraint (
61 virtual void resetNumericalConstraints ();
74 void parentGraph(
const GraphWkPtr_t& parent);
95 void init (const GraphComponentWkPtr_t& weak);
111 void throwIfNotInitialized ()
const;
114 virtual std::ostream& print (std::ostream& os)
const;
120 virtual void initialize() = 0;
126 GraphComponentWkPtr_t wkPtr_;
141 #endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:200
NumericalConstraints_t numericalCosts_
Stores the numerical costs.
Definition: graph-component.hh:105
GraphWkPtr_t graph_
A weak pointer to the parent graph.
Definition: graph-component.hh:107
const std::size_t & id() const
Return the component id.
Definition: graph-component.hh:48
virtual void invalidate()
Definition: graph-component.hh:84
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
virtual ~GraphComponent()
Definition: graph-component.hh:42
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:113
std::ostream & operator<<(std::ostream &os, const GraphComponent &graphComp)
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:53
NumericalConstraints_t numericalConstraints_
Stores the numerical constraints.
Definition: graph-component.hh:103
Define common methods of the graph components.
Definition: graph-component.hh:39
bool isInit_
Definition: graph-component.hh:109