#include <hpp/manipulation/graph/edge.hh>
Public Member Functions | |
virtual bool | build (core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2, const core::WeighedDistance &d) const |
virtual bool | applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const |
template<class EdgeType > | |
boost::shared_ptr< EdgeType > | waypoint () const |
Return the inner waypoint. More... | |
virtual std::ostream & | dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const |
Print the object in a stream. More... | |
void | createWaypoint (const unsigned int depth, const std::string &bname="WaypointEdge") |
Create inner waypoints. More... | |
NodePtr_t | node () const |
Get the node in which path after the waypoint is. More... | |
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~Edge () | |
Destructor. More... | |
virtual bool | applyConstraints (core::NodePtr_t nnear, ConfigurationOut_t q) const |
NodePtr_t | to () const |
Get the destination. More... | |
NodePtr_t | from () const |
Get the origin. More... | |
void | isInNodeFrom (bool iinf) |
bool | isInNodeFrom () const |
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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... | |
Static Public Member Functions | |
static WaypointEdgePtr_t | create (const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to) |
Create a new WaypointEdge. More... | |
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static EdgePtr_t | create (const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to) |
Create a new empty Edge. More... | |
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static GraphComponentWkPtr_t | get (int id) |
Get the component by its ID. More... | |
Protected Member Functions | |
void | init (const EdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to) |
Initialization of the object. More... | |
virtual std::ostream & | print (std::ostream &os) const |
Print the object in a stream. More... | |
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void | init (const EdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to) |
Initialization of the object. More... | |
Edge () | |
Constructor. More... | |
ConstraintSetPtr_t | configConstraint () const |
Constraint to project onto the same leaf as config. More... | |
ConstraintSetPtr_t | pathConstraint () const |
Constraint to project a path. More... | |
virtual ConstraintSetPtr_t | buildConfigConstraint () const |
virtual ConstraintSetPtr_t | buildPathConstraint () const |
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void | init (const GraphComponentWkPtr_t &weak) |
Initialize the component. More... | |
GraphComponent () | |
virtual void | populateTooltip (dot::Tooltip &tp) const |
Populate DrawingAttributes tooltip. More... | |
Additional Inherited Members | |
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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... | |
Edge with waypoint.
Waypoints are handled recursively, i.e. class WaypointEdge contains only a Node and an Edge, the second Edge being itself. In this package, the Node in a WaypointEdge is semantically different from other Node because it does not correspond to a state with different manipulation rules. It has the same rules as another Node (either Edge::from() or Edge::to()).
Semantically, a waypoint Node is fully part of the WaypointEdge. When a corresponding path reaches it, no planning is required to know what to do next. To the contrary, when a path reaches Edge::from() or Edge::to(), there may be several possibilities.
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virtual |
Reimplemented from hpp::manipulation::graph::Edge.
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virtual |
Reimplemented from hpp::manipulation::graph::Edge.
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static |
Create a new WaypointEdge.
void hpp::manipulation::graph::WaypointEdge::createWaypoint | ( | const unsigned int | depth, |
const std::string & | bname = "WaypointEdge" |
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) |
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virtual |
Print the object in a stream.
Reimplemented from hpp::manipulation::graph::Edge.
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protected |
Initialization of the object.
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virtual |
Get the node in which path after the waypoint is.
Reimplemented from hpp::manipulation::graph::Edge.
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protectedvirtual |
Print the object in a stream.
Reimplemented from hpp::manipulation::graph::Edge.
boost::shared_ptr<EdgeType> hpp::manipulation::graph::WaypointEdge::waypoint | ( | ) | const |
Return the inner waypoint.
EdgeType | is either Edge or WaypointEdge |