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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Florent Lamiraux |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_CORE_EDGE_HH |
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#define HPP_CORE_EDGE_HH |
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#include <hpp/core/config.hh> |
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#include <hpp/core/fwd.hh> |
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#include <hpp/util/serialization-fwd.hh> |
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namespace hpp { |
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namespace core { |
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/// \addtogroup roadmap |
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/// \{ |
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/// Edge of a roadmap |
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/// |
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/// Links two nodes and stores a path linking the configurations stored in |
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/// the nodes the edge links. |
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class HPP_CORE_DLLAPI Edge { |
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public: |
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Edge(NodePtr_t n1, NodePtr_t n2, const PathPtr_t& path) |
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: n1_(n1), n2_(n2), path_(path) {} |
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NodePtr_t from() const { return n1_; } |
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NodePtr_t to() const { return n2_; } |
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PathPtr_t path() const { return path_; } |
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protected: |
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Edge() {} |
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private: |
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NodePtr_t n1_; |
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NodePtr_t n2_; |
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PathPtr_t path_; |
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HPP_SERIALIZABLE(); |
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}; // class Edge |
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/// \} |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_EDGE_HH |
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