hpp-manipulation
4.9.0
Classes for manipulation planning.
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17 #ifndef HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
18 # define HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
30 namespace manipulation {
45 const std::string& name()
const;
48 const std::size_t&
id ()
const
56 virtual void addNumericalConstraint (
64 virtual void resetNumericalConstraints ();
69 virtual void addLockedJointConstraint
104 void parentGraph(const GraphWkPtr_t& parent);
110 virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
117 void init (const GraphComponentWkPtr_t& weak);
137 void throwIfNotInitialized ()
const;
140 virtual std::ostream& print (std::ostream& os)
const;
146 virtual void initialize () = 0;
152 GraphComponentWkPtr_t wkPtr_;
167 #endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
hpp::core::LockedJoints_t LockedJoints_t
Definition: fwd.hh:54
const LockedJoints_t lockedJoints_
List of LockedJoint constraints:
Definition: graph-component.hh:131
const std::size_t & id() const
Return the component id.
Definition: graph-component.hh:48
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:110
boost::shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
GraphWkPtr_t graph_
A weak pointer to the parent graph.
Definition: graph-component.hh:133
virtual ~GraphComponent()
Definition: graph-component.hh:42
hpp::core::segments_t segments_t
Definition: fwd.hh:51
IntervalsContainer_t passiveDofs_
Stores the passive dofs for each numerical constraints.
Definition: graph-component.hh:127
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:105
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:107
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:53
NumericalConstraints_t numericalConstraints_
Stores the numerical constraints.
Definition: graph-component.hh:125
std::vector< segments_t > IntervalsContainer_t
Definition: fwd.hh:52
StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:200
bool isInit_
Definition: graph-component.hh:135
NumericalConstraints_t numericalCosts_
Stores the numerical costs.
Definition: graph-component.hh:129
std::ostream & operator<<(std::ostream &os, const GraphComponent &graphComp)
Define common methods of the graph components.
Definition: graph-component.hh:39