hpp-core: include/hpp/core/connected-component.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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connected-component.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CORE_CONNECTED_COMPONENT_HH
31#define HPP_CORE_CONNECTED_COMPONENT_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/fwd.hh>
35#include <hpp/core/node.hh>
36#include <hpp/util/serialization-fwd.hh>
37
38namespace hpp {
39namespace core {
43 class HPP_CORE_DLLAPI ConnectedComponent {
44 public:
45 typedef ConnectedComponent* RawPtr_t;
46 typedef std::set<RawPtr_t> RawPtrs_t;
47
48 // variable for ranking connected components
49 static unsigned int globalFinishTime_;
50 static ConnectedComponentPtr_t create() {
51 ConnectedComponent* ptr = new ConnectedComponent();
52 ConnectedComponentPtr_t shPtr(ptr);
53 ptr->init(shPtr);
54 return shPtr;
55 }
60 virtual void merge(const ConnectedComponentPtr_t& other);
61
62 virtual ~ConnectedComponent() {}
63
66 virtual void addNode(const NodePtr_t& node) { nodes_.push_back(node); }
68 const NodeVector_t& nodes() const { return nodes_; }
69
72
75 bool canReach(const ConnectedComponentPtr_t& cc);
76
81 bool canReach(const ConnectedComponentPtr_t& cc, RawPtrs_t& cc2Tocc1);
82
83 // Get connected components reachable from this
84 const RawPtrs_t& reachableTo() const { return reachableTo_; }
85
86 // Get connected components that can reach this
87 const RawPtrs_t& reachableFrom() const { return reachableFrom_; }
89
90 ConnectedComponentPtr_t self() { return weak_.lock(); }
91
92 bool operator<(const ConnectedComponent& rhs) const {
93 return this->current_id < rhs.current_id;
94 }
95
96 protected:
98 ConnectedComponent()
99 : nodes_(), explored_(false), weak_(), current_id(static_id++) {
100 nodes_.reserve(1000);
101 }
102 void init(const ConnectedComponentPtr_t& shPtr) { weak_ = shPtr; }
103
104 private:
105 static void clean(RawPtrs_t& set);
106
107 NodeVector_t nodes_;
108 // List of CCs from which this connected component can be reached
109 RawPtrs_t reachableFrom_;
110 // List of CCs that can be reached from this connected component
111 RawPtrs_t reachableTo_;
112 // status variable to indicate whether or not CC has been visited
113 mutable bool explored_;
114 ConnectedComponentWkPtr_t weak_;
115 friend class Roadmap;
116
117 static int static_id;
118 const int current_id;
119
120 HPP_SERIALIZABLE();
121}; // class ConnectedComponent
122} // namespace core
123} // namespace hpp
124#endif // HPP_CORE_CONNECTED_COMPONENT_HH
hpp::core::ConnectedComponent
Definition connected-component.hh:43
hpp::core::ConnectedComponent::reachableTo
const RawPtrs_t & reachableTo() const
Definition connected-component.hh:84
hpp::core::ConnectedComponent::canReach
bool canReach(const ConnectedComponentPtr_t &cc)
hpp::core::ConnectedComponent::init
void init(const ConnectedComponentPtr_t &shPtr)
Definition connected-component.hh:102
hpp::core::ConnectedComponent::~ConnectedComponent
virtual ~ConnectedComponent()
Definition connected-component.hh:62
hpp::core::ConnectedComponent::nodes
const NodeVector_t & nodes() const
Access to the nodes.
Definition connected-component.hh:68
hpp::core::ConnectedComponent::self
ConnectedComponentPtr_t self()
Definition connected-component.hh:90
hpp::core::ConnectedComponent::ConnectedComponent
ConnectedComponent()
Constructor.
Definition connected-component.hh:98
hpp::core::ConnectedComponent::globalFinishTime_
static unsigned int globalFinishTime_
Definition connected-component.hh:49
hpp::core::ConnectedComponent::addNode
virtual void addNode(const NodePtr_t &node)
Definition connected-component.hh:66
hpp::core::ConnectedComponent::reachableFrom
const RawPtrs_t & reachableFrom() const
Definition connected-component.hh:87
hpp::core::ConnectedComponent::operator<
bool operator<(const ConnectedComponent &rhs) const
Definition connected-component.hh:92
hpp::core::ConnectedComponent::RawPtr_t
ConnectedComponent * RawPtr_t
Definition connected-component.hh:45
hpp::core::ConnectedComponent::create
static ConnectedComponentPtr_t create()
Definition connected-component.hh:50
hpp::core::ConnectedComponent::merge
virtual void merge(const ConnectedComponentPtr_t &other)
hpp::core::ConnectedComponent::RawPtrs_t
std::set< RawPtr_t > RawPtrs_t
Definition connected-component.hh:46
hpp::core::ConnectedComponent::canReach
bool canReach(const ConnectedComponentPtr_t &cc, RawPtrs_t &cc2Tocc1)
hpp::core::Node
Definition node.hh:46
hpp::core::Roadmap
Definition roadmap.hh:46
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
hpp::core::NodeVector_t
std::vector< NodePtr_t > NodeVector_t
Definition fwd.hh:182
hpp::core::ConnectedComponentPtr_t
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition fwd.hh:117
node.hh
serialization-fwd.hh
HPP_SERIALIZABLE
#define HPP_SERIALIZABLE()