17 #ifndef HPP_MANIPULATION_GRAPH_EDGE_HH 18 # define HPP_MANIPULATION_GRAPH_EDGE_HH 20 #include <hpp/core/constraint-set.hh> 21 #include <hpp/core/steering-method.hh> 22 #include <hpp/core/relative-motion.hh> 23 #include <hpp/core/path.hh> 30 namespace manipulation {
70 (
const std::string& name,
71 const GraphWkPtr_t& graph,
72 const StateWkPtr_t& from,
73 const StateWkPtr_t& to);
84 virtual bool applyConstraints (core::NodePtr_t nStart,
109 virtual bool generateTargetConfig(core::NodePtr_t nStart,
137 return state_.lock();
148 return steeringMethod_;
154 return pathValidation_;
163 void relativeMotion(
const RelativeMotion::matrix_type & m);
179 return securityMargins_;
184 virtual bool direction (
const core::PathPtr_t& path)
const;
188 virtual bool intersectionConstraint (
const EdgePtr_t& other,
215 void init (
const EdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
216 const StateWkPtr_t& to);
219 Edge (
const std::string& name);
230 virtual void initialize ();
233 virtual std::ostream& print (std::ostream& os)
const;
246 StateWkPtr_t from_, to_;
255 mutable RelativeMotion::matrix_type relMotion_;
306 (
const std::string& name,
307 const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
308 const StateWkPtr_t& to);
340 const EdgePtr_t& waypoint (
const std::size_t index)
const;
346 void nbWaypoints (
const size_type number);
350 return edges_.size () - 1;
360 lastSucceeded_ (false)
364 void init (
const WaypointEdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
365 const StateWkPtr_t& to);
368 virtual void initialize ();
370 virtual std::ostream& print (std::ostream& os)
const;
377 mutable bool lastSucceeded_;
379 WaypointEdgeWkPtr_t wkPtr_;
461 (
const std::string& name,
462 const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
463 const StateWkPtr_t& to);
474 virtual bool applyConstraints (core::NodePtr_t nStart,
499 virtual bool generateTargetConfig(core::NodePtr_t nStart,
533 void buildHistogram ();
581 void init (
const LevelSetEdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
582 const StateWkPtr_t& to);
587 virtual std::ostream& print (std::ostream& os)
const;
592 virtual void initialize ();
608 LevelSetEdgeWkPtr_t wkPtr_;
616 #endif // HPP_MANIPULATION_GRAPH_EDGE_HH boost::shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:90
StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:200
const RelativeMotion::matrix_type & relativeMotion() const
Definition: edge.hh:157
const matrix_t & securityMargins() const
Accessor to the security margin.
Definition: edge.hh:177
std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:46
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:112
bool isShort() const
Definition: edge.hh:206
core::RelativeMotion RelativeMotion
Definition: edge.hh:63
boost::shared_ptr< LevelSetEdge > LevelSetEdgePtr_t
Definition: fwd.hh:39
void state(StatePtr_t state)
Definition: edge.hh:140
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
boost::shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
bool isShort_
Definition: edge.hh:235
core::value_type value_type
Definition: fwd.hh:79
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
hpp::core::segments_t segments_t
Definition: fwd.hh:51
void setShort(bool isShort)
Definition: edge.hh:202
const core::PathValidationPtr_t & pathValidation() const
Get path validation associated to the edge.
Definition: edge.hh:152
std::size_t nbWaypoints() const
Definition: edge.hh:348
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:110
boost::shared_ptr< WaypointEdge > WaypointEdgePtr_t
Definition: fwd.hh:38
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:105
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:53
core::matrix_t matrix_t
Definition: fwd.hh:120
core::PathValidationPtr_t PathValidationPtr_t
Definition: fwd.hh:118
boost::shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:39
core::size_type size_type
Definition: fwd.hh:80
Define common methods of the graph components.
Definition: graph-component.hh:39
std::vector< StatePtr_t > States_t
Definition: fwd.hh:45
std::vector< segments_t > IntervalsContainer_t
Definition: fwd.hh:52
boost::shared_ptr< LeafHistogram > LeafHistogramPtr_t
Definition: fwd.hh:61
const core::SteeringMethodPtr_t & steeringMethod() const
Get steering method associated to the edge.
Definition: edge.hh:146
StatePtr_t state() const
Get the state in which path is.
Definition: edge.hh:135
WaypointEdge(const std::string &name)
Definition: edge.hh:358