roadmap.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// DAMAGE.
 
#ifndef HPP_MANIPULATION_ROADMAP_HH
#define HPP_MANIPULATION_ROADMAP_HH
 
#include <hpp/core/roadmap.hh>
#include <hpp/manipulation/deprecated.hh>
#include <hpp/manipulation/leaf-connected-comp.hh>
 
#include "hpp/manipulation/config.hh"
#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/fwd.hh"
 
namespace hpp {
namespace manipulation {
 
class HPP_MANIPULATION_DLLAPI Roadmap : public core::Roadmap {
 public:
  typedef core::Roadmap Parent;
 
  static RoadmapPtr_t create(const core::DistancePtr_t& distance,
                             const core::DevicePtr_t& robot);
 
  void insertHistogram(const graph::HistogramPtr_t hist);
 
  void constraintGraph(const graph::GraphPtr_t& graph);
 
  void clear();
 
  void push_node(const core::NodePtr_t& n);
 
  RoadmapNodePtr_t nearestNodeInState(
      ConfigurationIn_t configuration,
      const ConnectedComponentPtr_t& connectedComponent,
      const graph::StatePtr_t& state, value_type& minDistance) const;
 
  void connect(const LeafConnectedCompPtr_t& cc1,
               const LeafConnectedCompPtr_t& cc2);
 
  void merge(const LeafConnectedCompPtr_t& cc1,
             LeafConnectedComp::LeafConnectedComps_t& ccs);
 
  graph::StatePtr_t getState(RoadmapNodePtr_t node);
 
  const LeafConnectedComps_t& leafConnectedComponents() const {
    return leafCCs_;
  }
 
 protected:
  void statInsert(const RoadmapNodePtr_t& n);
 
  Roadmap(const core::DistancePtr_t& distance, const core::DevicePtr_t& robot);
 
  core::NodePtr_t createNode(ConfigurationIn_t config) const;
 
  void init(const RoadmapPtr_t& shPtr) {
    Parent::init(shPtr);
    weak_ = shPtr;
  }
 
  virtual void impl_addEdge(const core::EdgePtr_t& edge);
 
 private:
  typedef graph::Histograms_t Histograms_t;
  Histograms_t histograms_;
  graph::GraphPtr_t graph_;
  RoadmapWkPtr_t weak_;
  LeafConnectedComps_t leafCCs_;
 
  Roadmap() {}
  HPP_SERIALIZABLE();
};
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_ROADMAP_HH