17 #ifndef HPP_MANIPULATION_GRAPH_GRAPH_HH 18 # define HPP_MANIPULATION_GRAPH_GRAPH_HH 28 namespace manipulation {
69 return stateSelector_;
86 void clearConstraintsAndComplement();
101 void registerConstraints (
const ImplicitPtr_t& constraint,
102 const ImplicitPtr_t& complement,
103 const ImplicitPtr_t& both);
116 bool isComplement (
const ImplicitPtr_t& constraint,
117 const ImplicitPtr_t& complement,
118 ImplicitPtr_t& combinationOfBoth)
const;
180 bool getConfigErrorForEdgeLeaf
194 bool getConfigErrorForEdgeTarget
204 void maxIterations (
size_type iterations);
210 void errorThreshold (
const value_type& threshold);
227 hists_.push_back (hist);
237 GraphComponentWkPtr_t
get(std::size_t id)
const;
241 return components_.size();
248 virtual void initialize ();
251 virtual void invalidate();
255 void init (
const GraphWkPtr_t& weak,
DevicePtr_t robot);
262 std::ostream& print (std::ostream& os)
const;
285 typedef std::map < StatePtr_t, ConstraintSetPtr_t > MapFromState;
286 typedef std::pair < StatePtr_t, ConstraintSetPtr_t > PairStateConstraints;
287 MapFromState constraintSetMapFromState_;
293 typedef std::map < EdgePtr_t, ConstraintSetPtr_t > MapFromEdge;
294 typedef std::pair < EdgePtr_t, ConstraintSetPtr_t > PairEdgeConstraints;
295 MapFromEdge cfgConstraintSetMapFromEdge_, pathConstraintSetMapFromEdge_;
312 #endif // HPP_MANIPULATION_GRAPH_GRAPH_HH StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:200
const Histograms_t & histograms() const
Get the histograms.
Definition: graph.hh:231
std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:46
shared_ptr< StateSelector > StateSelectorPtr_t
Definition: fwd.hh:40
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
core::vector_t vector_t
Definition: fwd.hh:85
shared_ptr< Histogram > HistogramPtr_t
Definition: fwd.hh:58
core::value_type value_type
Definition: fwd.hh:82
void insertHistogram(const graph::HistogramPtr_t &hist)
Register an histogram representing a foliation.
Definition: graph.hh:225
std::vector< ConstraintAndComplement_t > ConstraintsAndComplements_t
Definition: constraint-set.hh:82
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
core::ConstraintPtr_t ConstraintPtr_t
Definition: fwd.hh:105
std::list< HistogramPtr_t > Histograms_t
Definition: fwd.hh:62
std::size_t nbComponents() const
Definition: graph.hh:239
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
StateSelectorPtr_t stateSelector() const
Get the state selector.
Definition: graph.hh:67
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:55
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:115
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
core::size_type size_type
Definition: fwd.hh:83
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
Define common methods of the graph components.
Definition: graph-component.hh:39
std::vector< GraphComponentWkPtr_t > GraphComponents_t
Definition: fwd.hh:44
Definition: roadmap-node.hh:32