Define common methods of the graph components. More...

#include <hpp/manipulation/graph/graph-component.hh>

Inheritance diagram for hpp::manipulation::graph::GraphComponent:

[legend]

Public Member Functions
virtual	~GraphComponent ()

const std::string &	name () const
	Get the component name.

const std::size_t &	id () const
	Return the component id.

virtual void	addNumericalConstraint (const ImplicitPtr_t &numConstraint)
	Add constraint to the component.

virtual void	addNumericalCost (const ImplicitPtr_t &numCost)
	Add a cost function Implicit to the component.

virtual void	resetNumericalConstraints ()
	Reset the numerical constraints stored in the component.

bool	insertNumericalConstraints (ConfigProjectorPtr_t &proj) const

const NumericalConstraints_t &	numericalConstraints () const
	Get a reference to the NumericalConstraints_t.

const NumericalConstraints_t &	numericalCosts () const
	Get a reference to the NumericalConstraints_t.

void	parentGraph (const GraphWkPtr_t &parent)
	Set the parent graph.

GraphPtr_t	parentGraph () const
	Set the parent graph.

virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the component in DOT language.

virtual void	invalidate ()

void	solveLevelByLevel (bool solveLevelByLevel)

bool	solveLevelByLevel () const

Protected Member Functions
void	init (const GraphComponentWkPtr_t &weak)
	Initialize the component.

	GraphComponent (const std::string &name)

void	throwIfNotInitialized () const

virtual std::ostream &	print (std::ostream &os) const
	Print the object in a stream.

virtual void	populateTooltip (dot::Tooltip &tp) const
	Populate DrawingAttributes tooltip.

virtual void	initialize ()=0

Protected Attributes
NumericalConstraints_t	numericalConstraints_
	Stores the numerical constraints.

NumericalConstraints_t	numericalCosts_
	Stores the numerical costs.

GraphWkPtr_t	graph_
	A weak pointer to the parent graph.

bool	isInit_

Friends
class	Graph

std::ostream &	operator<< (std::ostream &, const GraphComponent &)

Detailed Description

Define common methods of the graph components.

Constructor & Destructor Documentation

◆ ~GraphComponent()

virtual hpp::manipulation::graph::GraphComponent::~GraphComponent ( )

inlinevirtual

◆ GraphComponent()

hpp::manipulation::graph::GraphComponent::GraphComponent ( const std::string & name )

inlineprotected

Member Function Documentation

◆ addNumericalConstraint()

virtual void hpp::manipulation::graph::GraphComponent::addNumericalConstraint ( const ImplicitPtr_t & numConstraint )

virtual

Add constraint to the component.

Reimplemented in hpp::manipulation::graph::State.

◆ addNumericalCost()

virtual void hpp::manipulation::graph::GraphComponent::addNumericalCost ( const ImplicitPtr_t & numCost )

virtual

Add a cost function Implicit to the component.

◆ dotPrint()

virtual std::ostream & hpp::manipulation::graph::GraphComponent::dotPrint	(	std::ostream &	os,
		dot::DrawingAttributes	da = `dot::DrawingAttributes()`
	)		const

virtual

Print the component in DOT language.

Reimplemented in hpp::manipulation::graph::Edge, hpp::manipulation::graph::WaypointEdge, hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::Graph, and hpp::manipulation::graph::State.

◆ id()

const std::size_t & hpp::manipulation::graph::GraphComponent::id ( ) const

inline

Return the component id.

◆ init()

void hpp::manipulation::graph::GraphComponent::init ( const GraphComponentWkPtr_t & weak )

protected

Initialize the component.

◆ initialize()

virtual void hpp::manipulation::graph::GraphComponent::initialize ( )

protectedpure virtual

Implemented in hpp::manipulation::graph::Edge, hpp::manipulation::graph::WaypointEdge, hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::Graph, and hpp::manipulation::graph::State.

◆ insertNumericalConstraints()

bool hpp::manipulation::graph::GraphComponent::insertNumericalConstraints ( ConfigProjectorPtr_t & proj ) const

Insert the numerical constraints in a ConfigProjector

Returns: true is at least one ImplicitPtr_t was inserted.

◆ invalidate()

virtual void hpp::manipulation::graph::GraphComponent::invalidate ( )

inlinevirtual

Invalidate the component The component needs to be initialized again.

Reimplemented in hpp::manipulation::graph::Graph.

◆ name()

const std::string & hpp::manipulation::graph::GraphComponent::name ( ) const

Get the component name.

◆ numericalConstraints()

const NumericalConstraints_t & hpp::manipulation::graph::GraphComponent::numericalConstraints ( ) const

Get a reference to the NumericalConstraints_t.

◆ numericalCosts()

const NumericalConstraints_t & hpp::manipulation::graph::GraphComponent::numericalCosts ( ) const

Get a reference to the NumericalConstraints_t.

◆ parentGraph() [1/2]

GraphPtr_t hpp::manipulation::graph::GraphComponent::parentGraph ( ) const

Set the parent graph.

◆ parentGraph() [2/2]

void hpp::manipulation::graph::GraphComponent::parentGraph ( const GraphWkPtr_t & parent )

Set the parent graph.

◆ populateTooltip()

virtual void hpp::manipulation::graph::GraphComponent::populateTooltip ( dot::Tooltip & tp ) const

protectedvirtual

Populate DrawingAttributes tooltip.

Reimplemented in hpp::manipulation::graph::LevelSetEdge, and hpp::manipulation::graph::State.

◆ print()

virtual std::ostream & hpp::manipulation::graph::GraphComponent::print ( std::ostream & os ) const

protectedvirtual

Print the object in a stream.

Reimplemented in hpp::manipulation::graph::Edge, hpp::manipulation::graph::WaypointEdge, hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::Graph, and hpp::manipulation::graph::State.

◆ resetNumericalConstraints()

virtual void hpp::manipulation::graph::GraphComponent::resetNumericalConstraints ( )

virtual

Reset the numerical constraints stored in the component.

◆ solveLevelByLevel() [1/2]

bool hpp::manipulation::graph::GraphComponent::solveLevelByLevel ( ) const

inline

Get whether hierachical constraints are solved level by level

See also: hpp::constraints::solver::HierarchicalIterative

◆ solveLevelByLevel() [2/2]

void hpp::manipulation::graph::GraphComponent::solveLevelByLevel ( bool solveLevelByLevel )

inline

Set whether hierachical constraints are solved level by level

See also: hpp::constraints::solver::HierarchicalIterative

◆ throwIfNotInitialized()

void hpp::manipulation::graph::GraphComponent::throwIfNotInitialized ( ) const

protected

Friends And Related Symbol Documentation

◆ Graph

friend class Graph

friend

◆ operator<<

std::ostream & operator<<	(	std::ostream &	,
		const GraphComponent &
	)

friend

Member Data Documentation

◆ graph_

GraphWkPtr_t hpp::manipulation::graph::GraphComponent::graph_

protected

A weak pointer to the parent graph.

◆ isInit_

bool hpp::manipulation::graph::GraphComponent::isInit_

protected

◆ numericalConstraints_

NumericalConstraints_t hpp::manipulation::graph::GraphComponent::numericalConstraints_

protected

Stores the numerical constraints.

◆ numericalCosts_

NumericalConstraints_t hpp::manipulation::graph::GraphComponent::numericalCosts_

protected

Stores the numerical costs.

The documentation for this class was generated from the following file:

include/hpp/manipulation/graph/graph-component.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~GraphComponent()

◆ GraphComponent()

Member Function Documentation

◆ addNumericalConstraint()

◆ addNumericalCost()

◆ dotPrint()

◆ id()

◆ init()

◆ initialize()

◆ insertNumericalConstraints()

◆ invalidate()

◆ name()

◆ numericalConstraints()

◆ numericalCosts()

◆ parentGraph() [1/2]

◆ parentGraph() [2/2]

◆ populateTooltip()

◆ print()

◆ resetNumericalConstraints()

◆ solveLevelByLevel() [1/2]

◆ solveLevelByLevel() [2/2]

◆ throwIfNotInitialized()

Friends And Related Symbol Documentation

◆ Graph

◆ operator<<

Member Data Documentation

◆ graph_

◆ isInit_

◆ numericalConstraints_

◆ numericalCosts_