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

Inheritance diagram for hpp::manipulation::ConnectedComponent:

Collaboration diagram for hpp::manipulation::ConnectedComponent:

Public Types
typedef std::map< graph::StatePtr_t, RoadmapNodes_t >	GraphStates_t
	Map of graph states within the connected component. More...

Public Member Functions
	ConnectedComponent ()

void	merge (const core::ConnectedComponentPtr_t &otherCC)

void	addNode (const core::NodePtr_t &node)

const RoadmapNodes_t &	getRoadmapNodes (const graph::StatePtr_t graphState) const

Static Public Member Functions
static ConnectedComponentPtr_t	create (const RoadmapWkPtr_t &roadmap)

Detailed Description

Extension of hpp::core::connected-component. Adds a list of roadmap nodes for every contraint graph state within the connected component. Thus every roadmap node is assigned to a grahp state, which minimises computation time.

Member Typedef Documentation

◆ GraphStates_t

typedef std::map<graph::StatePtr_t, RoadmapNodes_t> hpp::manipulation::ConnectedComponent::GraphStates_t

Map of graph states within the connected component.

Constructor & Destructor Documentation

◆ ConnectedComponent()

hpp::manipulation::ConnectedComponent::ConnectedComponent ( )

inline

Member Function Documentation

◆ addNode()

void hpp::manipulation::ConnectedComponent::addNode ( const core::NodePtr_t & node )

Add roadmap node to connected component

Parameters

roadmap node to be added

◆ create()

static ConnectedComponentPtr_t hpp::manipulation::ConnectedComponent::create ( const RoadmapWkPtr_t & roadmap )

static

return a shared pointer to new instance of manipulation::ConnectedComponent

◆ getRoadmapNodes()

const RoadmapNodes_t& hpp::manipulation::ConnectedComponent::getRoadmapNodes ( const graph::StatePtr_t graphState ) const

◆ merge()

void hpp::manipulation::ConnectedComponent::merge ( const core::ConnectedComponentPtr_t & otherCC )

Merge two connected components (extension of core::ConnectedComponent::merge)

Parameters

other manipulation connected component to merge into this one.

Note: other will be empty after calling this method.

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

include/hpp/manipulation/connected-component.hh

Public Types

Public Member Functions

Static Public Member Functions