19 #ifndef HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
20 #define HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
29 namespace manipulation {
66 assert (!nodes_.empty());
67 return nodes_.front()->connectedComponent();
93 void init (
const LeafConnectedCompWkPtr_t& shPtr)
107 mutable bool explored_;
108 RoadmapWkPtr_t roadmap_;
110 LeafConnectedCompWkPtr_t weak_;
Definition: leaf-connected-comp.hh:35
virtual void setFirstNode(const RoadmapNodePtr_t &node)
RoadmapNodes_t nodes_
Definition: leaf-connected-comp.hh:99
LeafConnectedComp()
For serialization only.
Definition: leaf-connected-comp.hh:102
void init(const LeafConnectedCompWkPtr_t &shPtr)
Definition: leaf-connected-comp.hh:93
const RoadmapNodes_t & nodes() const
Definition: leaf-connected-comp.hh:70
LeafConnectedComp(const RoadmapPtr_t &r)
Definition: leaf-connected-comp.hh:90
bool canReach(const LeafConnectedCompPtr_t &cc)
const LeafConnectedComp::LeafConnectedComps_t & to() const
Definition: leaf-connected-comp.hh:85
const LeafConnectedComp::LeafConnectedComps_t & from() const
Definition: leaf-connected-comp.hh:80
std::set< RawPtr_t > LeafConnectedComps_t
Definition: leaf-connected-comp.hh:38
LeafConnectedComp * RawPtr_t
Definition: leaf-connected-comp.hh:37
void addNode(const RoadmapNodePtr_t &node)
static LeafConnectedCompPtr_t create(const RoadmapPtr_t &roadmap)
return a shared pointer to new instance
graph::StatePtr_t state_
Definition: leaf-connected-comp.hh:98
bool canReach(const LeafConnectedCompPtr_t &cc, LeafConnectedComp::LeafConnectedComps_t &cc2Tocc1)
virtual void merge(const LeafConnectedCompPtr_t &otherCC)
core::ConnectedComponentPtr_t connectedComponent() const
Definition: leaf-connected-comp.hh:64
Definition: roadmap-node.hh:33
Definition: roadmap.hh:36
Definition: leaf-connected-comp.hh:118
static WeighedLeafConnectedCompPtr_t create(const RoadmapPtr_t &roadmap)
void setFirstNode(const RoadmapNodePtr_t &node)
std::vector< graph::EdgePtr_t > edges_
Definition: leaf-connected-comp.hh:137
WeighedLeafConnectedComp(const RoadmapPtr_t &r)
Definition: leaf-connected-comp.hh:140
vector_t p_
Transition probabilities.
Definition: leaf-connected-comp.hh:136
void normalizeProba()
Definition: leaf-connected-comp.hh:128
void merge(const LeafConnectedCompPtr_t &otherCC)
std::size_t indexOf(const graph::EdgePtr_t e) const
value_type weight_
Definition: leaf-connected-comp.hh:134
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:58
shared_ptr< WeighedLeafConnectedComp > WeighedLeafConnectedCompPtr_t
Definition: fwd.hh:70
shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:65
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:63
core::value_type value_type
Definition: fwd.hh:82
std::set< LeafConnectedCompPtr_t > LeafConnectedComps_t
Definition: fwd.hh:68
core::vector_t vector_t
Definition: fwd.hh:85
std::vector< RoadmapNodePtr_t > RoadmapNodes_t
Definition: fwd.hh:61