Define common methods of the graph components. More...
#include <hpp/manipulation/graph/graph-component.hh>
Public Member Functions | |
const std::string & | name () const |
Get the component name. More... | |
void | name (const std::string &name) |
Set the component name. More... | |
int | id () const |
Return the component id. More... | |
virtual void | addNumericalConstraint (const NumericalConstraintPtr_t &numConstraint, const SizeIntervals_t &passiveDofs=SizeIntervals_t()) |
Add core::NumericalConstraint to the component. More... | |
virtual void | addNumericalConstraint (const DifferentiableFunctionPtr_t &function, const ComparisonTypePtr_t &ineq) HPP_MANIPULATION_DEPRECATED |
Add core::DifferentiableFunction to the component. More... | |
virtual void | addLockedJointConstraint (const LockedJointPtr_t &constraint) |
Add core::LockedJoint constraint to the component. More... | |
bool | insertNumericalConstraints (ConfigProjectorPtr_t &proj) const |
Insert the numerical constraints in a ConfigProjector. More... | |
bool | insertLockedJoints (ConfigProjectorPtr_t &cs) const |
Insert the LockedJoint constraints in a ConstraintSet. More... | |
const NumericalConstraints_t & | numericalConstraints () const |
Get a reference to the NumericalConstraints_t. More... | |
const LockedJoints_t & | lockedJoints () const |
Get a reference to the LockedJoints_t. More... | |
void | parentGraph (const GraphWkPtr_t &parent) |
Set the parent graph. More... | |
virtual std::ostream & | dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const |
Print the component in DOT language. More... | |
Static Public Member Functions | |
static GraphComponentWkPtr_t | get (int id) |
Get the component by its ID. More... | |
Protected Member Functions | |
void | init (const GraphComponentWkPtr_t &weak) |
Initialize the component. More... | |
GraphComponent () | |
virtual std::ostream & | print (std::ostream &os) const |
Print the object in a stream. More... | |
virtual void | populateTooltip (dot::Tooltip &tp) const |
Populate DrawingAttributes tooltip. More... | |
Protected Attributes | |
NumericalConstraints_t | numericalConstraints_ |
Stores the numerical constraints. More... | |
std::vector< SizeIntervals_t > | passiveDofs_ |
Stores the passive dofs for each numerical constraints. More... | |
LockedJoints_t | lockedJoints_ |
List of LockedJoint constraints. More... | |
GraphWkPtr_t | graph_ |
A weak pointer to the parent graph. More... | |
Friends | |
std::ostream & | operator<< (std::ostream &, const GraphComponent &) |
Define common methods of the graph components.
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inlineprotected |
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virtual |
Add core::LockedJoint constraint to the component.
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Add core::NumericalConstraint to the component.
passiveDofs | see ConfigProjector::addNumericalConstraint |
Reimplemented in hpp::manipulation::graph::NodeSelector.
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Add core::DifferentiableFunction to the component.
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Print the component in DOT language.
Reimplemented in hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::WaypointEdge, hpp::manipulation::graph::Node, hpp::manipulation::graph::Edge, hpp::manipulation::graph::Graph, and hpp::manipulation::graph::NodeSelector.
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static |
Get the component by its ID.
The validity of the GraphComponent is not checked.
int hpp::manipulation::graph::GraphComponent::id | ( | ) | const |
Return the component id.
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protected |
Initialize the component.
bool hpp::manipulation::graph::GraphComponent::insertLockedJoints | ( | ConfigProjectorPtr_t & | cs | ) | const |
Insert the LockedJoint constraints in a ConstraintSet.
bool hpp::manipulation::graph::GraphComponent::insertNumericalConstraints | ( | ConfigProjectorPtr_t & | proj | ) | const |
Insert the numerical constraints in a ConfigProjector.
const LockedJoints_t& hpp::manipulation::graph::GraphComponent::lockedJoints | ( | ) | const |
Get a reference to the LockedJoints_t.
const std::string& hpp::manipulation::graph::GraphComponent::name | ( | ) | const |
Get the component name.
void hpp::manipulation::graph::GraphComponent::name | ( | const std::string & | name | ) |
Set the component name.
const NumericalConstraints_t& hpp::manipulation::graph::GraphComponent::numericalConstraints | ( | ) | const |
Get a reference to the NumericalConstraints_t.
void hpp::manipulation::graph::GraphComponent::parentGraph | ( | const GraphWkPtr_t & | parent | ) |
Set the parent graph.
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protectedvirtual |
Populate DrawingAttributes tooltip.
Reimplemented in hpp::manipulation::graph::LevelSetEdge, and hpp::manipulation::graph::Node.
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protectedvirtual |
Print the object in a stream.
Reimplemented in hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::WaypointEdge, hpp::manipulation::graph::Node, hpp::manipulation::graph::Edge, hpp::manipulation::graph::Graph, and hpp::manipulation::graph::NodeSelector.
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friend |
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protected |
A weak pointer to the parent graph.
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List of LockedJoint constraints.
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Stores the numerical constraints.
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protected |
Stores the passive dofs for each numerical constraints.