hpp-core  6.0.0
Implement basic classes for canonical path planning for kinematic chains.
edge.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux
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29 
30 #ifndef HPP_CORE_EDGE_HH
31 #define HPP_CORE_EDGE_HH
32 
33 #include <hpp/core/config.hh>
34 #include <hpp/core/fwd.hh>
35 #include <hpp/util/serialization-fwd.hh>
36 
37 namespace hpp {
38 namespace core {
41 
47  public:
48  Edge(NodePtr_t n1, NodePtr_t n2, const PathPtr_t& path)
49  : n1_(n1), n2_(n2), path_(path) {}
50  NodePtr_t from() const { return n1_; }
51  NodePtr_t to() const { return n2_; }
52  PathPtr_t path() const { return path_; }
53 
54  protected:
55  Edge() {}
56 
57  private:
58  NodePtr_t n1_;
59  NodePtr_t n2_;
60  PathPtr_t path_;
61 
62  HPP_SERIALIZABLE();
63 }; // class Edge
65 } // namespace core
66 } // namespace hpp
67 #endif // HPP_CORE_EDGE_HH
Definition: edge.hh:46
Edge(NodePtr_t n1, NodePtr_t n2, const PathPtr_t &path)
Definition: edge.hh:48
Edge()
Definition: edge.hh:55
NodePtr_t to() const
Definition: edge.hh:51
PathPtr_t path() const
Definition: edge.hh:52
NodePtr_t from() const
Definition: edge.hh:50
Definition: node.hh:46
#define HPP_CORE_DLLAPI
Definition: config.hh:88
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
Definition: bi-rrt-planner.hh:35