hpp-core: include/hpp/core/node.hh Source File

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

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node.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_NODE_HH
31#define HPP_CORE_NODE_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/fwd.hh>
35#include <hpp/pinocchio/fwd.hh>
36#include <hpp/util/serialization-fwd.hh>
37
38namespace hpp {
39namespace core {
42
46 class HPP_CORE_DLLAPI Node {
47 public:
48 typedef std::list<EdgePtr_t> Edges_t;
53 Node(ConfigurationIn_t configuration);
57 Node(ConfigurationIn_t configuration,
58 ConnectedComponentPtr_t connectedComponent);
59 void addOutEdge(EdgePtr_t edge);
60 void addInEdge(EdgePtr_t edge);
62 void connectedComponent(const ConnectedComponentPtr_t& cc);
63 ConnectedComponentPtr_t connectedComponent() const;
65 const Edges_t& outEdges() const;
67 const Edges_t& inEdges() const;
71 bool isOutNeighbor(const NodePtr_t& n) const;
75 bool isInNeighbor(const NodePtr_t& n) const;
76
77 const Configuration_t& configuration() const;
79 std::ostream& print(std::ostream& os) const;
80
81 virtual ~Node() {};
82
83 protected:
84 Node() {}
85
86 private:
87 Configuration_t configuration_;
88 Edges_t outEdges_;
89 Edges_t inEdges_;
90 ConnectedComponentPtr_t connectedComponent_;
91
92 HPP_SERIALIZABLE();
93}; // class Node
94std::ostream& operator<<(std::ostream& os, const Node& n);
96} // namespace core
97} // namespace hpp
98#endif // HPP_CORE_NODE_HH
hpp::core::Edge
Definition edge.hh:46
hpp::core::Node
Definition node.hh:46
hpp::core::Node::addInEdge
void addInEdge(EdgePtr_t edge)
hpp::core::Node::inEdges
const Edges_t & inEdges() const
Access to inEdges.
hpp::core::Node::addOutEdge
void addOutEdge(EdgePtr_t edge)
hpp::core::Node::Edges_t
std::list< EdgePtr_t > Edges_t
Definition node.hh:48
hpp::core::Node::Node
Node(ConfigurationIn_t configuration)
hpp::core::Node::outEdges
const Edges_t & outEdges() const
Access to outEdges.
hpp::core::Node::configuration
const Configuration_t & configuration() const
hpp::core::Node::isInNeighbor
bool isInNeighbor(const NodePtr_t &n) const
hpp::core::Node::Node
Node()
Definition node.hh:84
hpp::core::Node::~Node
virtual ~Node()
Definition node.hh:81
hpp::core::Node::connectedComponent
void connectedComponent(const ConnectedComponentPtr_t &cc)
Store the connected component the node belongs to.
hpp::core::Node::isOutNeighbor
bool isOutNeighbor(const NodePtr_t &n) const
hpp::core::Node::print
std::ostream & print(std::ostream &os) const
Print node in a stream.
hpp::core::Node::connectedComponent
ConnectedComponentPtr_t connectedComponent() const
hpp::core::Node::Node
Node(ConfigurationIn_t configuration, ConnectedComponentPtr_t connectedComponent)
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp::core::operator<<
std::ostream & operator<<(std::ostream &os, const Constraint &constraint)
Definition constraint.hh:99
hpp
hpp::core::Edges_t
std::list< Edge * > Edges_t
Definition fwd.hh:145
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::ConnectedComponentPtr_t
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition fwd.hh:117
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
serialization-fwd.hh
HPP_SERIALIZABLE
#define HPP_SERIALIZABLE()