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 {
69 (
const std::string& name,
70 const GraphWkPtr_t& graph,
71 const StateWkPtr_t& from,
72 const StateWkPtr_t& to);
83 virtual bool applyConstraints (core::NodePtr_t nStart,
108 virtual bool generateTargetConfig(core::NodePtr_t nStart,
136 return state_.lock();
147 return steeringMethod_;
153 return pathValidation_;
162 void relativeMotion(
const RelativeMotion::matrix_type & m);
178 return securityMargins_;
183 virtual bool direction (
const core::PathPtr_t& path)
const;
187 virtual bool intersectionConstraint (
const EdgePtr_t& other,
214 void init (
const EdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
215 const StateWkPtr_t& to);
218 Edge (
const std::string& name);
229 virtual void initialize ();
232 virtual std::ostream& print (std::ostream& os)
const;
245 StateWkPtr_t from_, to_;
254 mutable RelativeMotion::matrix_type relMotion_;
305 (
const std::string& name,
306 const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
307 const StateWkPtr_t& to);
339 const EdgePtr_t& waypoint (
const std::size_t index)
const;
345 void nbWaypoints (
const size_type number);
349 return edges_.size () - 1;
359 lastSucceeded_ (false)
363 void init (
const WaypointEdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
364 const StateWkPtr_t& to);
367 virtual std::ostream& print (std::ostream& os)
const;
374 mutable bool lastSucceeded_;
376 WaypointEdgeWkPtr_t wkPtr_;
458 (
const std::string& name,
459 const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
460 const StateWkPtr_t& to);
471 virtual bool applyConstraints (core::NodePtr_t nStart,
496 virtual bool generateTargetConfig(core::NodePtr_t nStart,
530 void buildHistogram ();
578 void init (
const LevelSetEdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
579 const StateWkPtr_t& to);
584 virtual std::ostream& print (std::ostream& os)
const;
589 virtual void initialize ();
605 LevelSetEdgeWkPtr_t wkPtr_;
613 #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:156
const matrix_t & securityMargins() const
Accessor to the security margin.
Definition: edge.hh:176
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:205
core::RelativeMotion RelativeMotion
Definition: edge.hh:62
boost::shared_ptr< LevelSetEdge > LevelSetEdgePtr_t
Definition: fwd.hh:39
void state(StatePtr_t state)
Definition: edge.hh:139
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
boost::shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
bool isShort_
Definition: edge.hh:234
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:201
const core::PathValidationPtr_t & pathValidation() const
Get path validation associated to the edge.
Definition: edge.hh:151
std::size_t nbWaypoints() const
Definition: edge.hh:347
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:145
StatePtr_t state() const
Get the state in which path is.
Definition: edge.hh:134
WaypointEdge(const std::string &name)
Definition: edge.hh:357