19 #ifndef HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH 20 #define HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH 29 namespace manipulation {
66 assert (!nodes_.empty());
67 return nodes_.front()->connectedComponent();
93 void init (
const LeafConnectedCompWkPtr_t& shPtr)
102 static void clean (LeafConnectedComps_t&
set);
104 mutable bool explored_;
105 RoadmapWkPtr_t roadmap_;
106 LeafConnectedComps_t to_, from_;
107 LeafConnectedCompWkPtr_t weak_;
142 #endif // HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
boost::shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:62
const RoadmapNodes_t & nodes() const
Definition: leaf-connected-comp.hh:70
std::set< RawPtr_t > LeafConnectedComps_t
Definition: leaf-connected-comp.hh:38
core::vector_t vector_t
Definition: fwd.hh:82
boost::shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
Definition: leaf-connected-comp.hh:34
core::value_type value_type
Definition: fwd.hh:79
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
boost::shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:64
boost::shared_ptr< WeighedLeafConnectedComp > WeighedLeafConnectedCompPtr_t
Definition: fwd.hh:69
void init(const LeafConnectedCompWkPtr_t &shPtr)
Definition: leaf-connected-comp.hh:93
LeafConnectedComp * RawPtr_t
Definition: leaf-connected-comp.hh:37
value_type weight_
Definition: leaf-connected-comp.hh:129
WeighedLeafConnectedComp(const RoadmapPtr_t &r)
Definition: leaf-connected-comp.hh:135
const LeafConnectedComp::LeafConnectedComps_t & from() const
Definition: leaf-connected-comp.hh:80
boost::shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:57
RoadmapNodes_t nodes_
Definition: leaf-connected-comp.hh:99
Definition: roadmap.hh:35
core::ConnectedComponentPtr_t connectedComponent() const
Definition: leaf-connected-comp.hh:64
boost::shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
std::vector< RoadmapNodePtr_t > RoadmapNodes_t
Definition: fwd.hh:60
graph::StatePtr_t state_
Definition: leaf-connected-comp.hh:98
Definition: leaf-connected-comp.hh:111
void normalizeProba()
Definition: leaf-connected-comp.hh:123
LeafConnectedComp(const RoadmapPtr_t &r)
Definition: leaf-connected-comp.hh:90
vector_t p_
Transition probabilities.
Definition: leaf-connected-comp.hh:131
std::vector< graph::EdgePtr_t > edges_
Definition: leaf-connected-comp.hh:132
const LeafConnectedComp::LeafConnectedComps_t & to() const
Definition: leaf-connected-comp.hh:85
Definition: roadmap-node.hh:32