hpp::manipulation::Roadmap Class Reference

#include <hpp/manipulation/roadmap.hh>

Inheritance diagram for hpp::manipulation::Roadmap:

Collaboration diagram for hpp::manipulation::Roadmap:

Public Types
typedef core::Roadmap	Parent

Public Member Functions
void	insertHistogram (const graph::HistogramPtr_t hist)
void	constraintGraph (const graph::GraphPtr_t &graph)
	Register the constraint graph to do statistics. More...
void	clear ()
	Clear the histograms and call parent implementation. More...
void	push_node (const core::NodePtr_t &n)
	Catch event 'New node added'. More...
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)
	Get graph state corresponding to given roadmap node. More...
const LeafConnectedComps_t &	leafConnectedComponents () const

Static Public Member Functions
static RoadmapPtr_t	create (const core::DistancePtr_t &distance, const core::DevicePtr_t &robot)
	Return a shared pointer to a new instance. More...

Protected Member Functions
void	statInsert (const RoadmapNodePtr_t &n)
	Register a new configuration. More...
	Roadmap (const core::DistancePtr_t &distance, const core::DevicePtr_t &robot)
	Constructor. More...
core::NodePtr_t	createNode (ConfigurationIn_t config) const
	Node factory. More...
void	init (const RoadmapPtr_t &shPtr)
virtual void	impl_addEdge (const core::EdgePtr_t &edge)

Detailed Description

Extension of hpp::core::Roadmap. It adds the ability of doing statistics on the graph

Member Typedef Documentation

Parent

typedef core::Roadmap hpp::manipulation::Roadmap::Parent

Constructor & Destructor Documentation

Roadmap()

hpp::manipulation::Roadmap::Roadmap ( const core::DistancePtr_t &  distance, const core::DevicePtr_t &  robot  )

protected

Constructor.

Member Function Documentation

clear()

void hpp::manipulation::Roadmap::clear

(

)

Clear the histograms and call parent implementation.

connect()

void hpp::manipulation::Roadmap::connect	(	const LeafConnectedCompPtr_t &	cc1,
		const LeafConnectedCompPtr_t &	cc2
	)

Update the graph of connected components after new connection

Parameters

cc1,cc2

the two connected components that have just been connected.

constraintGraph()

void hpp::manipulation::Roadmap::constraintGraph

(

const graph::GraphPtr_t &

graph

)

Register the constraint graph to do statistics.

create()

static RoadmapPtr_t hpp::manipulation::Roadmap::create ( const core::DistancePtr_t &  distance, const core::DevicePtr_t &  robot  )

static

Return a shared pointer to a new instance.

createNode()

core::NodePtr_t hpp::manipulation::Roadmap::createNode ( ConfigurationIn_t  config ) const

protected

Node factory.

getState()

graph::StatePtr_t hpp::manipulation::Roadmap::getState

(

RoadmapNodePtr_t

node

)

Get graph state corresponding to given roadmap node.

impl_addEdge()

virtual void hpp::manipulation::Roadmap::impl_addEdge ( const core::EdgePtr_t &  edge )

protectedvirtual

init()

void hpp::manipulation::Roadmap::init ( const RoadmapPtr_t &  shPtr )

inlineprotected

insertHistogram()

void hpp::manipulation::Roadmap::insertHistogram

(

const graph::HistogramPtr_t

hist

)

Register histogram so that each time a node is added to the roadmap, it is also added to the histogram

leafConnectedComponents()

const LeafConnectedComps_t& hpp::manipulation::Roadmap::leafConnectedComponents ( ) const

inline

Get leaf connected components

Leaf connected components are composed of nodes

• belonging to the same connected component of the roadmap and,
• lying in the same leaf of a transition.

merge()

void hpp::manipulation::Roadmap::merge	(	const LeafConnectedCompPtr_t &	cc1,
		LeafConnectedComp::LeafConnectedComps_t &	ccs
	)

Merge two connected components

Parameters

cc1	the connected component to merge into
the	connected components to merge into cc1.

nearestNodeInState()

RoadmapNodePtr_t hpp::manipulation::Roadmap::nearestNodeInState	(	ConfigurationIn_t	configuration,
		const ConnectedComponentPtr_t &	connectedComponent,
		const graph::StatePtr_t &	state,
		value_type &	minDistance
	)		const

Get the nearest neighbor in a given graph::Node and in a given ConnectedComponent.

push_node()

void hpp::manipulation::Roadmap::push_node

(

const core::NodePtr_t &

n

)

Catch event 'New node added'.

statInsert()

void hpp::manipulation::Roadmap::statInsert ( const RoadmapNodePtr_t &  n )

protected

Register a new configuration.

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

• include/hpp/manipulation/roadmap.hh