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(
98 solveLevelByLevel_ = solveLevelByLevel;
107 void init(
const GraphComponentWkPtr_t& weak);
110 : isInit_(false), name_(name), id_(-1), solveLevelByLevel_(false) {}
121 void throwIfNotInitialized()
const;
124 virtual std::ostream& print(std::ostream& os)
const;
130 virtual void initialize() = 0;
136 GraphComponentWkPtr_t wkPtr_;
140 bool solveLevelByLevel_;
152 #endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH NumericalConstraints_t numericalCosts_
Stores the numerical costs.
Definition: graph-component.hh:115
GraphWkPtr_t graph_
A weak pointer to the parent graph.
Definition: graph-component.hh:117
void solveLevelByLevel(bool solveLevelByLevel)
Definition: graph-component.hh:97
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:88
virtual ~GraphComponent()
Definition: graph-component.hh:53
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:136
bool solveLevelByLevel() const
Definition: graph-component.hh:103
std::ostream & operator<<(std::ostream &os, const GraphComponent &graphComp)
GraphComponent(const std::string &name)
Definition: graph-component.hh:109
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:131
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:64
NumericalConstraints_t numericalConstraints_
Stores the numerical constraints.
Definition: graph-component.hh:113
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:119