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 {
70 (
const std::string& name,
71 const GraphWkPtr_t& graph,
72 const StateWkPtr_t& from,
73 const StateWkPtr_t& to);
137 return state_.lock();
148 return steeringMethod_;
154 return pathValidation_;
179 return securityMargins_;
184 virtual bool direction (
const core::PathPtr_t& path)
const;
202 void setShort (
bool isShort) {
215 void init (
const EdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
216 const StateWkPtr_t& to);
219 Edge (
const std::string& name);
230 virtual
void initialize ();
233 virtual std::ostream& print (std::ostream& os) const;
246 StateWkPtr_t from_, to_;
306 (
const std::string& name,
307 const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
308 const StateWkPtr_t& to);
350 return edges_.size () - 1;
360 lastSucceeded_ (false)
364 void init (
const WaypointEdgeWkPtr_t& weak,
const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
365 const StateWkPtr_t& to);
370 virtual std::ostream&
print (std::ostream& os)
const;
377 mutable bool lastSucceeded_;
379 WaypointEdgeWkPtr_t wkPtr_;
461 (
const std::string& name,
462 const GraphWkPtr_t& graph,
const StateWkPtr_t& from,
463 const StateWkPtr_t& to);
533 void buildHistogram ();
573 virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
577 void init (const LevelSetEdgeWkPtr_t& weak, const GraphWkPtr_t& graph, const StateWkPtr_t& from,
578 const StateWkPtr_t& to);
583 virtual std::ostream& print (std::ostream& os) const;
586 virtual
void populateTooltip (dot::Tooltip& tp) const;
588 virtual
void initialize ();
602 LevelSetEdgeWkPtr_t wkPtr_;
virtual std::ostream & dotPrint(std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
Print the object in a stream.
StatePtr_t stateFrom() const
Get the origin.
const RelativeMotion::matrix_type & relativeMotion() const
Definition: edge.hh:157
const matrix_t & securityMargins() const
Accessor to the security margin.
Definition: edge.hh:177
virtual ConstraintSetPtr_t buildConfigConstraint() HPP_MANIPULATION_DEPRECATED
bool isShort() const
Definition: edge.hh:206
void relativeMotion(const RelativeMotion::matrix_type &m)
Update the relative motion matrix.
const core::PathValidationPtr_t & pathValidation() const
Get path validation associated to the edge.
Definition: edge.hh:152
virtual ~Edge()
Destructor.
static EdgePtr_t create(const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
Create a new empty Edge.
virtual bool build(core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2) const
virtual bool intersectionConstraint(const EdgePtr_t &other, ConfigProjectorPtr_t projector) const
StatePtr_t stateTo() const
Get the destination.
virtual bool generateTargetConfig(ConfigurationIn_t qStart, ConfigurationOut_t q) const
ConstraintSetPtr_t pathConstraint() const
Edge(const std::string &name)
Constructor.
virtual bool generateTargetConfig(core::NodePtr_t nStart, ConfigurationOut_t q) const
virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q) const HPP_MANIPULATION_DEPRECATED
void securityMarginForPair(const size_type &row, const size_type &col, const value_type &margin)
ConstraintSetPtr_t configConstraint() const HPP_MANIPULATION_DEPRECATED
const core::SteeringMethodPtr_t & steeringMethod() const
Get steering method associated to the edge.
Definition: edge.hh:146
virtual bool canConnect(ConfigurationIn_t q1, ConfigurationIn_t q2) const
virtual bool direction(const core::PathPtr_t &path) const
void init(const EdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
Initialization of the object.
StatePtr_t state() const
Get the state in which path is.
Definition: edge.hh:135
void state(StatePtr_t state)
Definition: edge.hh:140
virtual bool applyConstraints(core::NodePtr_t nStart, ConfigurationOut_t q) const HPP_MANIPULATION_DEPRECATED
core::RelativeMotion RelativeMotion
Definition: edge.hh:63
Define common methods of the graph components.
Definition: graph-component.hh:40
virtual ConstraintSetPtr_t buildConfigConstraint() HPP_MANIPULATION_DEPRECATED
virtual bool generateTargetConfig(ConfigurationIn_t qStart, ConfigurationOut_t q) const
virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q) const HPP_MANIPULATION_DEPRECATED
virtual bool generateTargetConfig(core::NodePtr_t nStart, ConfigurationOut_t q) const
bool generateTargetConfigOnLeaf(ConfigurationIn_t qStart, ConfigurationIn_t qLeaf, ConfigurationOut_t q) const
virtual bool applyConstraints(core::NodePtr_t nStart, ConfigurationOut_t q) const HPP_MANIPULATION_DEPRECATED
static LevelSetEdgePtr_t create(const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
Create a new LevelSetEdge.
const EdgePtr_t & waypoint(const std::size_t index) const
Return the index-th edge.
virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q) const HPP_MANIPULATION_DEPRECATED
virtual bool canConnect(ConfigurationIn_t q1, ConfigurationIn_t q2) const
void nbWaypoints(const size_type number)
Set the number of waypoints.
void setWaypoint(const std::size_t index, const EdgePtr_t wEdge, const StatePtr_t wTo)
std::size_t nbWaypoints() const
Definition: edge.hh:348
virtual bool generateTargetConfig(ConfigurationIn_t qStart, ConfigurationOut_t q) const
WaypointEdge(const std::string &name)
Definition: edge.hh:358
virtual void initialize()
Initialize each of the internal edges.
virtual bool build(core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2) const
static WaypointEdgePtr_t create(const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
Create a new WaypointEdge.
void init(const WaypointEdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
Initialization of the object.
virtual std::ostream & dotPrint(std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
Print the object in a stream.
virtual std::ostream & print(std::ostream &os) const
Print the object in a stream.
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:53
shared_ptr< LevelSetEdge > LevelSetEdgePtr_t
Definition: fwd.hh:39
std::vector< StatePtr_t > States_t
Definition: fwd.hh:45
std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:46
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
shared_ptr< WaypointEdge > WaypointEdgePtr_t
Definition: fwd.hh:38
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:200
shared_ptr< LeafHistogram > LeafHistogramPtr_t
Definition: fwd.hh:61
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:93
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:115
core::PathValidationPtr_t PathValidationPtr_t
Definition: fwd.hh:121
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:39
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:113
core::size_type size_type
Definition: fwd.hh:83
core::value_type value_type
Definition: fwd.hh:82
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
core::matrix_t matrix_t
Definition: fwd.hh:123