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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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#ifndef HPP_MANIPULATION_CONNECTED_COMPONENT_HH |
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#define HPP_MANIPULATION_CONNECTED_COMPONENT_HH |
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#include <hpp/core/connected-component.hh> |
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#include <hpp/manipulation/config.hh> |
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#include <hpp/manipulation/fwd.hh> |
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#include <hpp/manipulation/graph/fwd.hh> |
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namespace hpp { |
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namespace manipulation { |
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/// Extension of hpp::core::connected-component. Adds a list of roadmap nodes |
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/// for every contraint graph state within the connected component. Thus every |
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/// roadmap node is assigned to a grahp state, which minimises computation time. |
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class HPP_MANIPULATION_DLLAPI ConnectedComponent |
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: public core::ConnectedComponent { |
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public: |
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/// Map of graph states within the connected component |
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typedef std::map<graph::StatePtr_t, RoadmapNodes_t> GraphStates_t; |
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✗ |
ConnectedComponent() {} |
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/// return a shared pointer to new instance of |
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/// manipulation::ConnectedComponent |
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static ConnectedComponentPtr_t create(const RoadmapWkPtr_t& roadmap); |
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/// Merge two connected components (extension of |
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/// core::ConnectedComponent::merge) \param other manipulation connected |
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/// component to merge into this one. \note other will be empty after calling |
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/// this method. |
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void merge(const core::ConnectedComponentPtr_t& otherCC); |
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/// Add roadmap node to connected component |
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/// \param roadmap node to be added |
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void addNode(const core::NodePtr_t& node); |
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const RoadmapNodes_t& getRoadmapNodes( |
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const graph::StatePtr_t graphState) const; |
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protected: |
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private: |
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bool check() const; |
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GraphStates_t graphStateMap_; |
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// a RoadmapWkPtr_t so that memory can be released ? |
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RoadmapWkPtr_t roadmap_; |
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static RoadmapNodes_t empty_; |
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HPP_SERIALIZABLE(); |
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}; // class ConnectedComponent |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_CONNECTED_COMPONENT_HH |
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