29 #ifndef HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH 30 #define HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH 42 namespace manipulation {
56 const std::string& name()
const;
59 const std::size_t&
id()
const {
return id_; }
62 virtual void addNumericalConstraint(
const ImplicitPtr_t& numConstraint);
68 virtual void resetNumericalConstraints();
81 void parentGraph(
const GraphWkPtr_t& parent);
87 virtual std::ostream& dotPrint(
101 void solveLevelByLevel(
bool solveLevelByLevel) {
102 solveLevelByLevel_ = solveLevelByLevel;
111 void init(
const GraphComponentWkPtr_t& weak);
114 : isInit_(false), name_(name), id_(-1), solveLevelByLevel_(false) {}
125 void throwIfNotInitialized()
const;
128 virtual std::ostream& print(std::ostream& os)
const;
134 virtual void initialize() = 0;
140 GraphComponentWkPtr_t wkPtr_;
144 bool solveLevelByLevel_;
156 #endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:206
NumericalConstraints_t numericalCosts_
Stores the numerical costs.
Definition: graph-component.hh:119
GraphWkPtr_t graph_
A weak pointer to the parent graph.
Definition: graph-component.hh:121
const std::size_t & id() const
Return the component id.
Definition: graph-component.hh:59
virtual void invalidate()
Definition: graph-component.hh:93
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
virtual ~GraphComponent()
Definition: graph-component.hh:53
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:121
bool solveLevelByLevel() const
Definition: graph-component.hh:107
std::ostream & operator<<(std::ostream &os, const GraphComponent &graphComp)
GraphComponent(const std::string &name)
Definition: graph-component.hh:113
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:116
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:64
NumericalConstraints_t numericalConstraints_
Stores the numerical constraints.
Definition: graph-component.hh:117
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:47
Define common methods of the graph components.
Definition: graph-component.hh:51
bool isInit_
Definition: graph-component.hh:123