hpp-core
6.0.0
Implement basic classes for canonical path planning for kinematic chains.
edge.hh
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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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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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}
// namespace core
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}
// namespace hpp
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#endif
// HPP_CORE_EDGE_HH
hpp::core::Edge
Definition:
edge.hh:46
hpp::core::Edge::Edge
Edge(NodePtr_t n1, NodePtr_t n2, const PathPtr_t &path)
Definition:
edge.hh:48
hpp::core::Edge::Edge
Edge()
Definition:
edge.hh:55
hpp::core::Edge::to
NodePtr_t to() const
Definition:
edge.hh:51
hpp::core::Edge::path
PathPtr_t path() const
Definition:
edge.hh:52
hpp::core::Edge::from
NodePtr_t from() const
Definition:
edge.hh:50
hpp::core::Node
Definition:
node.hh:46
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:88
fwd.hh
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition:
fwd.hh:187
hpp
Definition:
bi-rrt-planner.hh:35
include
hpp
core
edge.hh
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