29 #ifndef HPP_MANIPULATION_GRAPH_EDGE_HH 30 #define HPP_MANIPULATION_GRAPH_EDGE_HH 32 #include <hpp/core/constraint-set.hh> 33 #include <hpp/core/path.hh> 34 #include <hpp/core/relative-motion.hh> 35 #include <hpp/core/steering-method.hh> 42 namespace manipulation {
81 static EdgePtr_t create(
const std::string& name,
const GraphWkPtr_t& graph,
82 const StateWkPtr_t& from,
const StateWkPtr_t& to);
92 virtual bool generateTargetConfig(core::NodePtr_t nStart,
124 return steeringMethod_;
129 return pathValidation_;
137 void relativeMotion(
const RelativeMotion::matrix_type& m);
155 virtual bool direction(
const core::PathPtr_t& path)
const;
159 virtual bool intersectionConstraint(
const EdgePtr_t& other,
163 virtual std::ostream& dotPrint(
170 void setShort(
bool isShort) { isShort_ = isShort; }
179 void init(
const EdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
180 const StateWkPtr_t& from,
const StateWkPtr_t& to);
183 Edge(
const std::string& name);
191 virtual void initialize();
194 virtual std::ostream& print(std::ostream& os)
const;
207 StateWkPtr_t from_, to_;
216 mutable RelativeMotion::matrix_type relMotion_;
266 const GraphWkPtr_t& graph,
267 const StateWkPtr_t& from,
268 const StateWkPtr_t& to);
287 const EdgePtr_t& waypoint(
const std::size_t index)
const;
290 virtual std::ostream& dotPrint(
295 void nbWaypoints(
const size_type number);
301 void setWaypoint(
const std::size_t index,
const EdgePtr_t wEdge,
307 void init(
const WaypointEdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
308 const StateWkPtr_t& from,
const StateWkPtr_t& to);
311 virtual void initialize();
313 virtual std::ostream& print(std::ostream& os)
const;
320 mutable bool lastSucceeded_;
322 WaypointEdgeWkPtr_t wkPtr_;
404 const GraphWkPtr_t& graph,
405 const StateWkPtr_t& from,
406 const StateWkPtr_t& to);
416 virtual bool generateTargetConfig(core::NodePtr_t nStart,
446 void buildHistogram();
486 virtual std::ostream& dotPrint(
492 void init(
const LevelSetEdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
493 const StateWkPtr_t& from,
const StateWkPtr_t& to);
498 virtual std::ostream& print(std::ostream& os)
const;
503 virtual void initialize();
517 LevelSetEdgeWkPtr_t wkPtr_;
525 #endif // HPP_MANIPULATION_GRAPH_EDGE_HH std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:57
const RelativeMotion::matrix_type & relativeMotion() const
Definition: edge.hh:132
const matrix_t & securityMargins() const
Accessor to the security margin.
Definition: edge.hh:151
shared_ptr< WaypointEdge > WaypointEdgePtr_t
Definition: fwd.hh:50
bool isShort() const
Definition: edge.hh:172
core::RelativeMotion RelativeMotion
Definition: edge.hh:75
void state(StatePtr_t state)
Definition: edge.hh:120
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
bool isShort_
Definition: edge.hh:196
core::value_type value_type
Definition: fwd.hh:89
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:88
shared_ptr< LevelSetEdge > LevelSetEdgePtr_t
Definition: fwd.hh:51
void setShort(bool isShort)
Definition: edge.hh:170
const core::PathValidationPtr_t & pathValidation() const
Get path validation associated to the edge.
Definition: edge.hh:128
std::size_t nbWaypoints() const
Definition: edge.hh:297
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:136
std::vector< StatePtr_t > States_t
Definition: fwd.hh:56
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:138
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:131
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:64
core::matrix_t matrix_t
Definition: fwd.hh:146
core::PathValidationPtr_t PathValidationPtr_t
Definition: fwd.hh:144
shared_ptr< LeafHistogram > LeafHistogramPtr_t
Definition: fwd.hh:72
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:50
core::size_type size_type
Definition: fwd.hh:90
Define common methods of the graph components.
Definition: graph-component.hh:51
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:49
shared_ptr< State > StatePtr_t
Definition: fwd.hh:48
const core::SteeringMethodPtr_t & steeringMethod() const
Get steering method associated to the edge.
Definition: edge.hh:123
StatePtr_t state() const
Get the state in which path is.
Definition: edge.hh:118
WaypointEdge(const std::string &name)
Definition: edge.hh:305
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:112