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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_NODE_HH |
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#define HPP_CORE_NODE_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/pinocchio/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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/// Node of a roadmap |
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/// |
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/// Stores a configuration. |
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class HPP_CORE_DLLAPI Node { |
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public: |
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typedef std::list<EdgePtr_t> Edges_t; |
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/// Constructor |
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/// \param configuration configuration stored in the new node |
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/// \note A new connected component is created. For consistency, the |
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/// new node is not registered in the connected component. |
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Node(ConfigurationIn_t configuration); |
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/// Constructor |
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/// \param configuration configuration stored in the new node |
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/// \param connectedComponent connected component the node belongs to. |
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Node(ConfigurationIn_t configuration, |
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ConnectedComponentPtr_t connectedComponent); |
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void addOutEdge(EdgePtr_t edge); |
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void addInEdge(EdgePtr_t edge); |
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/// Store the connected component the node belongs to |
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void connectedComponent(const ConnectedComponentPtr_t& cc); |
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ConnectedComponentPtr_t connectedComponent() const; |
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/// Access to outEdges |
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const Edges_t& outEdges() const; |
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/// Access to inEdges |
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const Edges_t& inEdges() const; |
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/// Check whether otherNode is an out-neighbor of this node. |
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/// Node B is an out-neighbor of node A if node A has an outgoing edge |
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/// going to B. |
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bool isOutNeighbor(const NodePtr_t& n) const; |
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/// Check whether otherNode is an in-neighbor of this node. |
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/// Node B is an in-neighbor of node A if node A has an ingoing edge |
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/// going to B. |
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bool isInNeighbor(const NodePtr_t& n) const; |
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const Configuration_t& configuration() const; |
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/// Print node in a stream |
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std::ostream& print(std::ostream& os) const; |
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virtual ~Node() {}; |
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protected: |
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Node() {} |
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private: |
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Configuration_t configuration_; |
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Edges_t outEdges_; |
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Edges_t inEdges_; |
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ConnectedComponentPtr_t connectedComponent_; |
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HPP_SERIALIZABLE(); |
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}; // class Node |
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std::ostream& operator<<(std::ostream& os, const Node& n); |
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/// \} |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_NODE_HH |
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