hpp::manipulation::graph::Edge Class Reference

Abstract class representing representing the link between two nodes. More...

#include <hpp/manipulation/graph/edge.hh>

Inheritance diagram for hpp::manipulation::graph::Edge:
Collaboration diagram for hpp::manipulation::graph::Edge:

Public Member Functions

 ~Edge ()
 Destructor. More...
 
virtual bool applyConstraints (core::NodePtr_t nnear, ConfigurationOut_t q) const
 
virtual bool applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const
 
virtual bool build (core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2, const core::WeighedDistance &d) const
 
NodePtr_t to () const
 Get the destination. More...
 
NodePtr_t from () const
 Get the origin. More...
 
virtual NodePtr_t node () const
 Get the node in which path is. More...
 
void isInNodeFrom (bool iinf)
 
bool isInNodeFrom () const
 
virtual std::ostream & dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
 Print the object in a stream. More...
 
- Public Member Functions inherited from hpp::manipulation::graph::GraphComponent
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_tnumericalConstraints () const
 Get a reference to the NumericalConstraints_t. More...
 
const LockedJoints_tlockedJoints () 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 EdgePtr_t create (const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to)
 Create a new empty Edge. More...
 
- Static Public Member Functions inherited from hpp::manipulation::graph::GraphComponent
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...
 
 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
 
virtual std::ostream & print (std::ostream &os) const
 Print the object in a stream. More...
 
- Protected Member Functions inherited from hpp::manipulation::graph::GraphComponent
void init (const GraphComponentWkPtr_t &weak)
 Initialize the component. More...
 
 GraphComponent ()
 
virtual void populateTooltip (dot::Tooltip &tp) const
 Populate DrawingAttributes tooltip. More...
 

Friends

class Graph
 

Additional Inherited Members

- Protected Attributes inherited from hpp::manipulation::graph::GraphComponent
NumericalConstraints_t numericalConstraints_
 Stores the numerical constraints. More...
 
std::vector< SizeIntervals_tpassiveDofs_
 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...
 

Detailed Description

Abstract class representing representing the link between two nodes.

Constructor & Destructor Documentation

◆ ~Edge()

hpp::manipulation::graph::Edge::~Edge ( )

Destructor.

◆ Edge()

hpp::manipulation::graph::Edge::Edge ( )
protected

Constructor.

Member Function Documentation

◆ applyConstraints() [1/2]

virtual bool hpp::manipulation::graph::Edge::applyConstraints ( core::NodePtr_t  nnear,
ConfigurationOut_t  q 
) const
virtual

◆ applyConstraints() [2/2]

virtual bool hpp::manipulation::graph::Edge::applyConstraints ( ConfigurationIn_t  qoffset,
ConfigurationOut_t  q 
) const
virtual

◆ build()

virtual bool hpp::manipulation::graph::Edge::build ( core::PathPtr_t &  path,
ConfigurationIn_t  q1,
ConfigurationIn_t  q2,
const core::WeighedDistance &  d 
) const
virtual

◆ buildConfigConstraint()

virtual ConstraintSetPtr_t hpp::manipulation::graph::Edge::buildConfigConstraint ( ) const
protectedvirtual

◆ buildPathConstraint()

virtual ConstraintSetPtr_t hpp::manipulation::graph::Edge::buildPathConstraint ( ) const
protectedvirtual

◆ configConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::Edge::configConstraint ( ) const
protected

Constraint to project onto the same leaf as config.

Returns
The initialized projector.

◆ create()

static EdgePtr_t hpp::manipulation::graph::Edge::create ( const GraphWkPtr_t &  graph,
const NodeWkPtr_t &  from,
const NodeWkPtr_t &  to 
)
static

Create a new empty Edge.

◆ dotPrint()

virtual std::ostream& hpp::manipulation::graph::Edge::dotPrint ( std::ostream &  os,
dot::DrawingAttributes  da = dot::DrawingAttributes() 
) const
virtual

◆ from()

NodePtr_t hpp::manipulation::graph::Edge::from ( ) const

Get the origin.

◆ init()

void hpp::manipulation::graph::Edge::init ( const EdgeWkPtr_t &  weak,
const GraphWkPtr_t &  graph,
const NodeWkPtr_t &  from,
const NodeWkPtr_t &  to 
)
protected

Initialization of the object.

◆ isInNodeFrom() [1/2]

void hpp::manipulation::graph::Edge::isInNodeFrom ( bool  iinf)
inline

◆ isInNodeFrom() [2/2]

bool hpp::manipulation::graph::Edge::isInNodeFrom ( ) const
inline

◆ node()

virtual NodePtr_t hpp::manipulation::graph::Edge::node ( ) const
virtual

Get the node in which path is.

Reimplemented in hpp::manipulation::graph::WaypointEdge.

◆ pathConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::Edge::pathConstraint ( ) const
protected

Constraint to project a path.

Returns
The initialized constraint.

◆ print()

virtual std::ostream& hpp::manipulation::graph::Edge::print ( std::ostream &  os) const
protectedvirtual

◆ to()

NodePtr_t hpp::manipulation::graph::Edge::to ( ) const

Get the destination.

Friends And Related Function Documentation

◆ Graph

friend class Graph
friend