Description of the constraint graph. More...
#include <hpp/manipulation/graph/graph.hh>
Public Member Functions | |
NodeSelectorPtr_t | createNodeSelector () |
Create and insert a NodeSelector inside the graph. More... | |
NodePtr_t | getNode (ConfigurationIn_t config) const |
Returns the states of a configuration. More... | |
Edges_t | getEdges (const NodePtr_t &from, const NodePtr_t &to) const |
Get possible edges between two nodes. More... | |
EdgePtr_t | chooseEdge (const NodePtr_t &node) const |
Select randomly outgoing edge of the given node. More... | |
ConstraintSetPtr_t | configConstraint (const NodePtr_t &node) |
Constraint to project onto the Node. More... | |
ConstraintSetPtr_t | configConstraint (const EdgePtr_t &edge) |
Constraint to project onto the same leaf as config. More... | |
ConstraintSetPtr_t | pathConstraint (const EdgePtr_t &edge) |
Constraint to project a path. More... | |
void | maxIterations (size_type iterations) |
Set maximal number of iterations. More... | |
size_type | maxIterations () const |
Get maximal number of iterations in config projector. More... | |
void | errorThreshold (const value_type &threshold) |
Set error threshold. More... | |
value_type | errorThreshold () const |
Get errorimal number of threshold in config projector. More... | |
const DevicePtr_t & | robot () const |
Get the robot. More... | |
virtual std::ostream & | dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const |
Print the component in DOT language. More... | |
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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 GraphPtr_t | create (DevicePtr_t robot) |
Create a new Graph. More... | |
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static GraphComponentWkPtr_t | get (int id) |
Get the component by its ID. More... | |
Protected Member Functions | |
void | init (const GraphWkPtr_t &weak, DevicePtr_t robot) |
Initialization of the object. More... | |
Graph () | |
Constructor. More... | |
std::ostream & | print (std::ostream &os) const |
Print the object in a stream. More... | |
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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... | |
Description of the constraint graph.
This class contains a graph representing a robot with several end-effectors.
One must make sure not to create loop with shared pointers. To ensure that, the classes are defined as follow:
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inlineprotected |
Constructor.
Select randomly outgoing edge of the given node.
ConstraintSetPtr_t hpp::manipulation::graph::Graph::configConstraint | ( | const NodePtr_t & | node | ) |
Constraint to project onto the Node.
the | Node_t on which to project. |
ConstraintSetPtr_t hpp::manipulation::graph::Graph::configConstraint | ( | const EdgePtr_t & | edge | ) |
Constraint to project onto the same leaf as config.
edges | a list of edges defining the foliation. |
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static |
Create a new Graph.
NodeSelectorPtr_t hpp::manipulation::graph::Graph::createNodeSelector | ( | ) |
Create and insert a NodeSelector inside the graph.
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virtual |
Print the component in DOT language.
Reimplemented from hpp::manipulation::graph::GraphComponent.
void hpp::manipulation::graph::Graph::errorThreshold | ( | const value_type & | threshold | ) |
Set error threshold.
value_type hpp::manipulation::graph::Graph::errorThreshold | ( | ) | const |
Get errorimal number of threshold in config projector.
Edges_t hpp::manipulation::graph::Graph::getEdges | ( | const NodePtr_t & | from, |
const NodePtr_t & | to | ||
) | const |
Get possible edges between two nodes.
NodePtr_t hpp::manipulation::graph::Graph::getNode | ( | ConfigurationIn_t | config | ) | const |
Returns the states of a configuration.
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protected |
Initialization of the object.
void hpp::manipulation::graph::Graph::maxIterations | ( | size_type | iterations | ) |
Set maximal number of iterations.
size_type hpp::manipulation::graph::Graph::maxIterations | ( | ) | const |
Get maximal number of iterations in config projector.
ConstraintSetPtr_t hpp::manipulation::graph::Graph::pathConstraint | ( | const EdgePtr_t & | edge | ) |
Constraint to project a path.
edge | a list of edges defining the foliation. |
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protectedvirtual |
Print the object in a stream.
Reimplemented from hpp::manipulation::graph::GraphComponent.
const DevicePtr_t& hpp::manipulation::graph::Graph::robot | ( | ) | const |
Get the robot.