17 #ifndef HPP_MANIPULATION_GRAPH_GRAPH_HH
18 # define HPP_MANIPULATION_GRAPH_GRAPH_HH
28 namespace manipulation {
69 return stateSelector_;
227 hists_.push_back (hist);
237 GraphComponentWkPtr_t
get(std::size_t
id)
const;
241 return components_.size();
262 std::ostream&
print (std::ostream& os)
const;
285 typedef std::map < StatePtr_t, ConstraintSetPtr_t > MapFromState;
286 typedef std::pair < StatePtr_t, ConstraintSetPtr_t > PairStateConstraints;
287 MapFromState constraintSetMapFromState_;
293 typedef std::map < EdgePtr_t, ConstraintSetPtr_t > MapFromEdge;
294 typedef std::pair < EdgePtr_t, ConstraintSetPtr_t > PairEdgeConstraints;
295 MapFromEdge cfgConstraintSetMapFromEdge_, pathConstraintSetMapFromEdge_;
Definition: roadmap-node.hh:33
Define common methods of the graph components.
Definition: graph-component.hh:40
void clearConstraintsAndComplement()
void stateSelector(StateSelectorPtr_t ns)
StateSelectorPtr_t createStateSelector(const std::string &name)
Create and insert a state selector inside the graph.
value_type errorThreshold() const
Get error threshold in config projector.
void errorThreshold(const value_type &threshold)
Set error threshold.
virtual void initialize()
Initialize all components of the graph (edges and states)
bool getConfigErrorForEdge(ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const
const DevicePtr_t & robot() const
Get the robot.
void problem(const ProblemPtr_t &problem)
Set the problem.
Edges_t getEdges(const StatePtr_t &from, const StatePtr_t &to) const
Get possible edges between two nodes.
GraphComponentWkPtr_t get(std::size_t id) const
Get the component by its ID.
const ConstraintsAndComplements_t & constraintsAndComplements() const
void insertHistogram(const graph::HistogramPtr_t &hist)
Register an histogram representing a foliation.
Definition: graph.hh:225
ConstraintSetPtr_t configConstraint(const StatePtr_t &state) const
StatePtr_t getState(RoadmapNodePtr_t node) const
Returns the state of a roadmap node.
static GraphPtr_t create(const std::string &name, DevicePtr_t robot, const ProblemPtr_t &problem)
Graph(const std::string &name, const ProblemPtr_t &problem)
void maxIterations(size_type iterations)
Set maximal number of iterations.
void registerConstraints(const ImplicitPtr_t &constraint, const ImplicitPtr_t &complement, const ImplicitPtr_t &both)
size_type maxIterations() const
Get maximal number of iterations in config projector.
ConstraintSetPtr_t targetConstraint(const EdgePtr_t &edge) const
virtual void invalidate()
Invalidate all states and edges of the graph.
StateSelectorPtr_t stateSelector() const
Get the state selector.
Definition: graph.hh:67
const Histograms_t & histograms() const
Get the histograms.
Definition: graph.hh:231
bool getConfigErrorForEdgeLeaf(ConfigurationIn_t leafConfig, ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const
std::ostream & print(std::ostream &os) const
Print the object in a stream.
bool getConfigErrorForState(ConfigurationIn_t config, const StatePtr_t &state, vector_t &error) const
const ProblemPtr_t & problem() const
Get the problem.
std::size_t nbComponents() const
Definition: graph.hh:239
virtual std::ostream & dotPrint(std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
Print the component in DOT language.
ConstraintSetPtr_t configConstraint(const EdgePtr_t &edge) const HPP_MANIPULATION_DEPRECATED
void init(const GraphWkPtr_t &weak, DevicePtr_t robot)
Initialization of the object.
EdgePtr_t chooseEdge(RoadmapNodePtr_t node) const
Select randomly outgoing edge of the given node.
ConstraintSetPtr_t pathConstraint(const EdgePtr_t &edge) const
bool isComplement(const ImplicitPtr_t &constraint, const ImplicitPtr_t &complement, ImplicitPtr_t &combinationOfBoth) const
StatePtr_t getState(ConfigurationIn_t config) const
Returns the state of a configuration.
bool getConfigErrorForEdgeTarget(ConfigurationIn_t leafConfig, ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
std::vector< ConstraintAndComplement_t > ConstraintsAndComplements_t
Definition: constraint-set.hh:82
std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:46
shared_ptr< StateSelector > StateSelectorPtr_t
Definition: fwd.hh:40
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED
Definition: statistics.hh:200
std::list< HistogramPtr_t > Histograms_t
Definition: fwd.hh:62
shared_ptr< Histogram > HistogramPtr_t
Definition: fwd.hh:58
std::vector< GraphComponentWkPtr_t > GraphComponents_t
Definition: fwd.hh:44
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:55
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:115
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
core::size_type size_type
Definition: fwd.hh:83
core::value_type value_type
Definition: fwd.hh:82
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
core::vector_t vector_t
Definition: fwd.hh:85
core::ConstraintPtr_t ConstraintPtr_t
Definition: fwd.hh:105