| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// Copyright (c) 2014, LAAS-CNRS |
| 2 |
|
|
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
// Redistribution and use in source and binary forms, with or without |
| 6 |
|
|
// modification, are permitted provided that the following conditions are |
| 7 |
|
|
// met: |
| 8 |
|
|
// |
| 9 |
|
|
// 1. Redistributions of source code must retain the above copyright |
| 10 |
|
|
// notice, this list of conditions and the following disclaimer. |
| 11 |
|
|
// |
| 12 |
|
|
// 2. Redistributions in binary form must reproduce the above copyright |
| 13 |
|
|
// notice, this list of conditions and the following disclaimer in the |
| 14 |
|
|
// documentation and/or other materials provided with the distribution. |
| 15 |
|
|
// |
| 16 |
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 17 |
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 18 |
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| 19 |
|
|
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| 20 |
|
|
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| 21 |
|
|
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| 22 |
|
|
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| 23 |
|
|
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
| 24 |
|
|
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
| 25 |
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| 26 |
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
| 27 |
|
|
// DAMAGE. |
| 28 |
|
|
|
| 29 |
|
|
#ifndef HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH |
| 30 |
|
|
#define HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH |
| 31 |
|
|
|
| 32 |
|
|
#include <ostream> |
| 33 |
|
|
#include <string> |
| 34 |
|
|
|
| 35 |
|
|
#include "hpp/manipulation/config.hh" |
| 36 |
|
|
#include "hpp/manipulation/deprecated.hh" |
| 37 |
|
|
#include "hpp/manipulation/fwd.hh" |
| 38 |
|
|
#include "hpp/manipulation/graph/dot.hh" |
| 39 |
|
|
#include "hpp/manipulation/graph/fwd.hh" |
| 40 |
|
|
|
| 41 |
|
|
namespace hpp { |
| 42 |
|
|
namespace manipulation { |
| 43 |
|
|
typedef constraints::ImplicitPtr_t ImplicitPtr_t; |
| 44 |
|
|
namespace graph { |
| 45 |
|
|
/// \defgroup constraint_graph Constraint Graph |
| 46 |
|
|
|
| 47 |
|
|
/// \addtogroup constraint_graph |
| 48 |
|
|
/// \{ |
| 49 |
|
|
|
| 50 |
|
|
/// Define common methods of the graph components. |
| 51 |
|
|
class HPP_MANIPULATION_DLLAPI GraphComponent { |
| 52 |
|
|
public: |
| 53 |
|
4 |
virtual ~GraphComponent() {}; |
| 54 |
|
|
|
| 55 |
|
|
/// Get the component name. |
| 56 |
|
|
const std::string& name() const; |
| 57 |
|
|
|
| 58 |
|
|
/// Return the component id. |
| 59 |
|
✗ |
const std::size_t& id() const { return id_; } |
| 60 |
|
|
|
| 61 |
|
|
/// Add constraint to the component. |
| 62 |
|
|
virtual void addNumericalConstraint(const ImplicitPtr_t& numConstraint); |
| 63 |
|
|
|
| 64 |
|
|
/// Add a cost function Implicit to the component. |
| 65 |
|
|
virtual void addNumericalCost(const ImplicitPtr_t& numCost); |
| 66 |
|
|
|
| 67 |
|
|
/// Reset the numerical constraints stored in the component. |
| 68 |
|
|
virtual void resetNumericalConstraints(); |
| 69 |
|
|
|
| 70 |
|
|
/// Insert the numerical constraints in a ConfigProjector |
| 71 |
|
|
/// \return true is at least one ImplicitPtr_t was inserted. |
| 72 |
|
|
bool insertNumericalConstraints(ConfigProjectorPtr_t& proj) const; |
| 73 |
|
|
|
| 74 |
|
|
/// Get a reference to the NumericalConstraints_t |
| 75 |
|
|
const NumericalConstraints_t& numericalConstraints() const; |
| 76 |
|
|
|
| 77 |
|
|
/// Get a reference to the NumericalConstraints_t |
| 78 |
|
|
const NumericalConstraints_t& numericalCosts() const; |
| 79 |
|
|
|
| 80 |
|
|
/// Set the parent graph. |
| 81 |
|
|
void parentGraph(const GraphWkPtr_t& parent); |
| 82 |
|
|
|
| 83 |
|
|
/// Set the parent graph. |
| 84 |
|
|
GraphPtr_t parentGraph() const; |
| 85 |
|
|
|
| 86 |
|
|
/// Print the component in DOT language. |
| 87 |
|
|
virtual std::ostream& dotPrint( |
| 88 |
|
|
std::ostream& os, |
| 89 |
|
|
dot::DrawingAttributes da = dot::DrawingAttributes()) const; |
| 90 |
|
|
|
| 91 |
|
|
/// Invalidate the component |
| 92 |
|
|
/// The component needs to be initialized again. |
| 93 |
|
6 |
virtual void invalidate() { isInit_ = false; } |
| 94 |
|
|
|
| 95 |
|
|
/// Set whether hierachical constraints are solved level by level |
| 96 |
|
|
/// \sa hpp::constraints::solver::HierarchicalIterative |
| 97 |
|
|
void solveLevelByLevel(bool solveLevelByLevel) { |
| 98 |
|
|
solveLevelByLevel_ = solveLevelByLevel; |
| 99 |
|
|
} |
| 100 |
|
|
|
| 101 |
|
|
/// Get whether hierachical constraints are solved level by level |
| 102 |
|
|
/// \sa hpp::constraints::solver::HierarchicalIterative |
| 103 |
|
20 |
bool solveLevelByLevel() const { return solveLevelByLevel_; } |
| 104 |
|
|
|
| 105 |
|
|
protected: |
| 106 |
|
|
/// Initialize the component |
| 107 |
|
|
void init(const GraphComponentWkPtr_t& weak); |
| 108 |
|
|
|
| 109 |
|
14 |
GraphComponent(const std::string& name) |
| 110 |
1/2
✓ Branch 4 taken 14 times.
✗ Branch 5 not taken.
|
14 |
: isInit_(false), name_(name), id_(-1), solveLevelByLevel_(false) {} |
| 111 |
|
|
|
| 112 |
|
|
/// Stores the numerical constraints. |
| 113 |
|
|
NumericalConstraints_t numericalConstraints_; |
| 114 |
|
|
/// Stores the numerical costs. |
| 115 |
|
|
NumericalConstraints_t numericalCosts_; |
| 116 |
|
|
/// A weak pointer to the parent graph. |
| 117 |
|
|
GraphWkPtr_t graph_; |
| 118 |
|
|
|
| 119 |
|
|
bool isInit_; |
| 120 |
|
|
|
| 121 |
|
|
void throwIfNotInitialized() const; |
| 122 |
|
|
|
| 123 |
|
|
/// Print the object in a stream. |
| 124 |
|
|
virtual std::ostream& print(std::ostream& os) const; |
| 125 |
|
|
friend std::ostream& operator<<(std::ostream&, const GraphComponent&); |
| 126 |
|
|
|
| 127 |
|
|
/// Populate DrawingAttributes tooltip |
| 128 |
|
|
virtual void populateTooltip(dot::Tooltip& tp) const; |
| 129 |
|
|
|
| 130 |
|
|
virtual void initialize() = 0; |
| 131 |
|
|
|
| 132 |
|
|
private: |
| 133 |
|
|
/// Name of the component. |
| 134 |
|
|
std::string name_; |
| 135 |
|
|
/// Weak pointer to itself. |
| 136 |
|
|
GraphComponentWkPtr_t wkPtr_; |
| 137 |
|
|
/// ID of the component (index in components vector). |
| 138 |
|
|
std::size_t id_; |
| 139 |
|
|
/// Whether the constraints are solved level by level |
| 140 |
|
|
bool solveLevelByLevel_; |
| 141 |
|
|
friend class Graph; |
| 142 |
|
|
}; |
| 143 |
|
|
|
| 144 |
|
|
std::ostream& operator<<(std::ostream& os, const GraphComponent& graphComp); |
| 145 |
|
|
|
| 146 |
|
|
/// \} |
| 147 |
|
|
} // namespace graph |
| 148 |
|
|
} // namespace manipulation |
| 149 |
|
|
|
| 150 |
|
|
} // namespace hpp |
| 151 |
|
|
|
| 152 |
|
|
#endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH |
| 153 |
|
|
|