hpp-manipulation  4.14.0
Classes for manipulation planning.
roadmap-node.hh
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1 // Copyright (c) 2014 CNRS
2 // Authors: Joseph Mirabel
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29 
30 #ifndef HPP_MANIPULATION_ROADMAP_NODE_HH
31 #define HPP_MANIPULATION_ROADMAP_NODE_HH
32 
33 #include <hpp/core/node.hh>
37 #include <hpp/manipulation/fwd.hh>
39 
40 namespace hpp {
41 namespace manipulation {
42 class HPP_MANIPULATION_DLLAPI RoadmapNode : public core::Node {
43  public:
44  RoadmapNode(const ConfigurationPtr_t& configuration)
45  : core::Node(configuration), state_() {}
46 
47  RoadmapNode(const ConfigurationPtr_t& configuration,
49 
52 
54  bool cacheUpToDate() const { return static_cast<bool>(graphState()); }
55 
57  graph::StatePtr_t graphState() const { return state_.lock(); }
58 
60  void graphState(const graph::StatePtr_t& state) { state_ = state; }
62 
64  leafCC_ = sc;
65  }
66 
67  LeafConnectedCompPtr_t leafConnectedComponent() const { return leafCC_; }
68 
69  private:
70  graph::StateWkPtr_t state_;
71  LeafConnectedCompPtr_t leafCC_;
72 
73  RoadmapNode() {}
74  HPP_SERIALIZABLE();
75 };
76 } // namespace manipulation
77 } // namespace hpp
78 
79 #endif // HPP_MANIPULATION_ROADMAP_NODE_HH
void leafConnectedComponent(const LeafConnectedCompPtr_t &sc)
Definition: roadmap-node.hh:63
Definition: main.hh:1
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:74
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
RoadmapNode(const ConfigurationPtr_t &configuration)
Definition: roadmap-node.hh:44
graph::StatePtr_t graphState() const
Getter for the graph::State.
Definition: roadmap-node.hh:57
shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:76
LeafConnectedCompPtr_t leafConnectedComponent() const
Definition: roadmap-node.hh:67
shared_ptr< State > StatePtr_t
Definition: fwd.hh:48
void graphState(const graph::StatePtr_t &state)
Setter for the graph::State.
Definition: roadmap-node.hh:60
bool cacheUpToDate() const
Get the caching system being used.
Definition: roadmap-node.hh:54
Definition: roadmap-node.hh:42
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:51