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// |
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// Copyright (c) 2015 CNRS |
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// Authors: Anna Seppala (seppala@laas.fr) |
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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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#include <hpp/manipulation/connected-component.hh> |
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#include "hpp/manipulation/roadmap-node.hh" |
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#include "hpp/manipulation/roadmap.hh" |
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namespace hpp { |
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namespace manipulation { |
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RoadmapNodes_t ConnectedComponent::empty_ = RoadmapNodes_t(); |
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bool ConnectedComponent::check() const { |
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std::set<core::NodePtr_t> s1; |
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for (core::NodeVector_t::const_iterator it = nodes().begin(); |
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it != nodes().end(); ++it) { |
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s1.insert(*it); |
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} |
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std::set<core::NodePtr_t> s2; |
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for (GraphStates_t::const_iterator it = graphStateMap_.begin(); |
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it != graphStateMap_.end(); ++it) { |
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for (RoadmapNodes_t::const_iterator itNodes = it->second.begin(); |
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itNodes != it->second.end(); ++itNodes) { |
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s2.insert(*itNodes); |
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} |
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} |
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if (s1.size() == 0) return false; |
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if (s1 == s2) return true; |
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return false; |
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} |
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ConnectedComponentPtr_t ConnectedComponent::create( |
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const RoadmapWkPtr_t& roadmap) { |
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ConnectedComponent* ptr = new ConnectedComponent(); |
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ConnectedComponentPtr_t shPtr(ptr); |
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// calls init function in core::ConnectedComponent that saves |
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// shPtr into the class variable weak_ (weak pointer). Reimplement? |
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ptr->init(shPtr); |
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shPtr->roadmap_ = roadmap.lock(); |
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return shPtr; |
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} |
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void ConnectedComponent::merge(const core::ConnectedComponentPtr_t& otherCC) { |
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core::ConnectedComponent::merge(otherCC); |
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const ConnectedComponentPtr_t other = |
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static_pointer_cast<ConnectedComponent>(otherCC); |
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/// take all graph states in other->graphStateMap_ and put them in |
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/// this->graphStateMap_ if they already exist in this->graphStateMap_, append |
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/// roadmap nodes from other graph state to graph state in this. |
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for (GraphStates_t::iterator otherIt = other->graphStateMap_.begin(); |
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otherIt != other->graphStateMap_.end(); otherIt++) { |
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// find other graph state in this-graphStateMap_ -> merge their roadmap |
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// nodes |
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GraphStates_t::iterator mapIt = this->graphStateMap_.find(otherIt->first); |
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if (mapIt != this->graphStateMap_.end()) { |
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mapIt->second.insert(mapIt->second.end(), otherIt->second.begin(), |
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otherIt->second.end()); |
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} else { |
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this->graphStateMap_.insert(*otherIt); |
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} |
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} |
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other->graphStateMap_.clear(); |
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assert(check()); |
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} |
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void ConnectedComponent::addNode(const core::NodePtr_t& node) { |
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core::ConnectedComponent::addNode(node); |
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// Find right graph state in map and add roadmap node to corresponding vector |
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const RoadmapNodePtr_t& n = static_cast<RoadmapNodePtr_t>(node); |
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RoadmapPtr_t roadmap = roadmap_.lock(); |
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if (!roadmap) |
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throw std::logic_error( |
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"The roadmap of this ConnectedComponent as been deleted."); |
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graphStateMap_[roadmap->getState(n)].push_back(n); |
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assert(check()); |
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} |
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const RoadmapNodes_t& ConnectedComponent::getRoadmapNodes( |
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const graph::StatePtr_t graphState) const { |
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GraphStates_t::const_iterator mapIt = graphStateMap_.find(graphState); |
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if (mapIt != graphStateMap_.end()) return mapIt->second; |
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return empty_; |
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} |
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} // namespace manipulation |
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} // namespace hpp |
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