hpp-core
5.1.0
Implement basic classes for canonical path planning for kinematic chains.
node.hh
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//
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// Copyright (c) 2014 CNRS
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// Authors: Florent Lamiraux
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// 1. Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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// DAMAGE.
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#ifndef HPP_CORE_NODE_HH
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#define HPP_CORE_NODE_HH
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#include <
hpp/core/config.hh
>
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#include <
hpp/core/fwd.hh
>
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#include <hpp/pinocchio/fwd.hh>
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#include <hpp/util/serialization-fwd.hh>
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namespace
hpp
{
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namespace
core {
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class
HPP_CORE_DLLAPI
Node
{
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public
:
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typedef
std::list<EdgePtr_t>
Edges_t
;
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Node
(
ConfigurationIn_t
configuration);
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Node
(
ConfigurationIn_t
configuration,
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ConnectedComponentPtr_t
connectedComponent);
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void
addOutEdge(
EdgePtr_t
edge);
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void
addInEdge(
EdgePtr_t
edge);
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void
connectedComponent(
const
ConnectedComponentPtr_t
& cc);
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ConnectedComponentPtr_t
connectedComponent()
const
;
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const
Edges_t
& outEdges()
const
;
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const
Edges_t
& inEdges()
const
;
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bool
isOutNeighbor(
const
NodePtr_t
& n)
const
;
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bool
isInNeighbor(
const
NodePtr_t
& n)
const
;
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const
Configuration_t
& configuration()
const
;
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std::ostream& print(std::ostream& os)
const
;
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virtual
~Node
() {};
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protected
:
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Node
() {}
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private
:
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Configuration_t
configuration_;
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Edges_t
outEdges_;
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Edges_t
inEdges_;
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ConnectedComponentPtr_t
connectedComponent_;
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HPP_SERIALIZABLE();
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};
// class Node
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std::ostream&
operator<<
(std::ostream& os,
const
Node& n);
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}
// namespace core
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}
// namespace hpp
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#endif // HPP_CORE_NODE_HH
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition:
fwd.hh:107
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition:
fwd.hh:108
hpp::core::Node
Definition:
node.hh:46
hpp::core::Node::~Node
virtual ~Node()
Definition:
node.hh:81
hpp::core::ConnectedComponentPtr_t
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition:
fwd.hh:117
hpp::core::operator<<
std::ostream & operator<<(std::ostream &os, const Constraint &constraint)
Definition:
constraint.hh:99
fwd.hh
hpp
Definition:
bi-rrt-planner.hh:35
hpp::core::Edges_t
std::list< Edge * > Edges_t
Definition:
fwd.hh:145
hpp::core::Edge
Definition:
edge.hh:46
hpp::core::Node::Edges_t
std::list< EdgePtr_t > Edges_t
Definition:
node.hh:48
hpp::core::Node::Node
Node()
Definition:
node.hh:84
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:88
include
hpp
core
node.hh
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