#include <hpp/manipulation/graph/graph.hh>

Inheritance diagram for hpp::manipulation::graph::Graph:

Collaboration diagram for hpp::manipulation::graph::Graph:

Public Member Functions
GraphPtr_t	self () const

StateSelectorPtr_t	createStateSelector (const std::string &name)
	Create and insert a state selector inside the graph. More...

void	stateSelector (StateSelectorPtr_t ns)

StateSelectorPtr_t	stateSelector () const
	Get the state selector. More...

StatePtr_t	getState (ConfigurationIn_t config) const
	Returns the state of a configuration. More...

StatePtr_t	getState (RoadmapNodePtr_t node) const
	Returns the state of a roadmap node. More...

Edges_t	getEdges (const StatePtr_t &from, const StatePtr_t &to) const
	Get possible edges between two nodes. More...

EdgePtr_t	chooseEdge (RoadmapNodePtr_t node) const
	Select randomly outgoing edge of the given node. More...

void	clearConstraintsAndComplement ()

void	registerConstraints (const ImplicitPtr_t &constraint, const ImplicitPtr_t &complement, const ImplicitPtr_t &both)

bool	isComplement (const ImplicitPtr_t &constraint, const ImplicitPtr_t &complement, ImplicitPtr_t &combinationOfBoth) const

const ConstraintsAndComplements_t &	constraintsAndComplements () const

ConstraintSetPtr_t	configConstraint (const StatePtr_t &state) const

ConstraintSetPtr_t	targetConstraint (const EdgePtr_t &edge) const

bool	getConfigErrorForState (ConfigurationIn_t config, const StatePtr_t &state, vector_t &error) const

bool	getConfigErrorForEdge (ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const

bool	getConfigErrorForEdgeLeaf (ConfigurationIn_t leafConfig, ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const

bool	getConfigErrorForEdgeTarget (ConfigurationIn_t leafConfig, ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const

ConstraintSetPtr_t	pathConstraint (const EdgePtr_t &edge) const

void	maxIterations (size_type iterations)
	Set maximal number of iterations. More...

size_type	maxIterations () const
	Get maximal number of iterations in config projector. More...

void	errorThreshold (const value_type &threshold)
	Set error threshold. More...

value_type	errorThreshold () const
	Get error threshold in config projector. More...

const DevicePtr_t &	robot () const
	Get the robot. More...

const ProblemPtr_t &	problem () const
	Get the problem. More...

void	problem (const ProblemPtr_t &problem)
	Set the problem. More...

void	insertHistogram (const graph::HistogramPtr_t &hist)
	Register an histogram representing a foliation. More...

const Histograms_t &	histograms () const
	Get the histograms. More...

GraphComponentWkPtr_t	get (std::size_t id) const
	Get the component by its ID. More...

std::size_t	nbComponents () const

virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the component in DOT language. More...

virtual void	initialize ()
	Initialize all components of the graph (edges and states) More...

virtual void	invalidate ()
	Invalidate all states and edges of the graph. More...

Public Member Functions inherited from hpp::manipulation::graph::GraphComponent
virtual	~GraphComponent ()

const std::string &	name () const
	Get the component name. More...

const std::size_t &	id () const
	Return the component id. More...

virtual void	addNumericalConstraint (const ImplicitPtr_t &numConstraint)
	Add constraint to the component. More...

virtual void	addNumericalCost (const ImplicitPtr_t &numCost)
	Add a cost function Implicit to the component. More...

virtual void	resetNumericalConstraints ()
	Reset the numerical constraints stored in the component. More...

bool	insertNumericalConstraints (ConfigProjectorPtr_t &proj) const

const NumericalConstraints_t &	numericalConstraints () const
	Get a reference to the NumericalConstraints_t. More...

const NumericalConstraints_t &	numericalCosts () const
	Get a reference to the NumericalConstraints_t. More...

void	parentGraph (const GraphWkPtr_t &parent)
	Set the parent graph. More...

GraphPtr_t	parentGraph () const
	Set the parent graph. More...

void	solveLevelByLevel (bool solveLevelByLevel)

bool	solveLevelByLevel () const

Static Public Member Functions
static GraphPtr_t	create (const std::string &name, DevicePtr_t robot, const ProblemPtr_t &problem)

Protected Member Functions
void	init (const GraphWkPtr_t &weak, DevicePtr_t robot)
	Initialization of the object. More...

	Graph (const std::string &name, const ProblemPtr_t &problem)

std::ostream &	print (std::ostream &os) const
	Print the object in a stream. More...

Protected Member Functions inherited from hpp::manipulation::graph::GraphComponent
void	init (const GraphComponentWkPtr_t &weak)
	Initialize the component. More...

	GraphComponent (const std::string &name)

void	throwIfNotInitialized () const

virtual void	populateTooltip (dot::Tooltip &tp) const
	Populate DrawingAttributes tooltip. More...

Friends
class	GraphComponent

Additional Inherited Members
Protected Attributes inherited from hpp::manipulation::graph::GraphComponent
NumericalConstraints_t	numericalConstraints_
	Stores the numerical constraints. More...

NumericalConstraints_t	numericalCosts_
	Stores the numerical costs. More...

GraphWkPtr_t	graph_
	A weak pointer to the parent graph. More...

bool	isInit_

Detailed Description

Description of the constraint graph.

This class contains a graph representing a a manipulation problem

One must make sure not to create loop with shared pointers. To ensure that, the classes are defined as follow:

A Graph owns (i.e. has a shared pointer to) the StateSelector s
A StateSelector owns the Node s related to one gripper.
A State owns its outgoing Edge s.
An Edge does not own anything.

Note: The graph and all its components have a unique index starting at 0 for the graph itself. The index of a component can be retrieved using method GraphComponent::id.

Constructor & Destructor Documentation

◆ Graph()

hpp::manipulation::graph::Graph::Graph	(	const std::string &	name,
		const ProblemPtr_t &	problem
	)

protected

Constructor

Parameters

problem a pointer to the problem

Member Function Documentation

◆ chooseEdge()

EdgePtr_t hpp::manipulation::graph::Graph::chooseEdge ( RoadmapNodePtr_t node ) const

Select randomly outgoing edge of the given node.

◆ clearConstraintsAndComplement()

void hpp::manipulation::graph::Graph::clearConstraintsAndComplement ( )

Clear the vector of constraints and complements

See also: registerConstraints

◆ configConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::Graph::configConstraint ( const StatePtr_t & state ) const

Constraint to project onto the Node.

Parameters

state the state on which to project.

Returns: The initialized projector.

◆ constraintsAndComplements()

const ConstraintsAndComplements_t& hpp::manipulation::graph::Graph::constraintsAndComplements ( ) const

Return the vector of tuples as registered in registerConstraints

Returns: a vector of tuples (c, c/complement, c/both) each of them corresponding to a constraint, the complement constraint and the combination of boths.

◆ create()

static GraphPtr_t hpp::manipulation::graph::Graph::create	(	const std::string &	name,
		DevicePtr_t	robot,
		const ProblemPtr_t &	problem
	)

static

Create a new Graph.

Parameters

robot	a manipulation robot
problem	a pointer to the problem

◆ createStateSelector()

StateSelectorPtr_t hpp::manipulation::graph::Graph::createStateSelector ( const std::string & name )

Create and insert a state selector inside the graph.

◆ dotPrint()

virtual std::ostream& hpp::manipulation::graph::Graph::dotPrint	(	std::ostream &	os,
		dot::DrawingAttributes	da = `dot::DrawingAttributes()`
	)		const

virtual

Print the component in DOT language.

Reimplemented from hpp::manipulation::graph::GraphComponent.

◆ errorThreshold() [1/2]

value_type hpp::manipulation::graph::Graph::errorThreshold ( ) const

Get error threshold in config projector.

◆ errorThreshold() [2/2]

void hpp::manipulation::graph::Graph::errorThreshold ( const value_type & threshold )

Set error threshold.

◆ get()

GraphComponentWkPtr_t hpp::manipulation::graph::Graph::get ( std::size_t id ) const

Get the component by its ID.

◆ getConfigErrorForEdge()

bool hpp::manipulation::graph::Graph::getConfigErrorForEdge	(	ConfigurationIn_t	config,
		const EdgePtr_t &	edge,
		vector_t &	error
	)		const

Get error of a config with respect to an edge constraint

Parameters

config	Configuration,
edge	edge containing the constraint to check config against

Return values

error the error of the edge constraint for the configuration

Returns: whether the configuration can be a start point of a path Call core::ConfigProjector::rightHandSideFromConfig with input configuration and method core::ConstraintSet::isSatisfied for the edge constraint.

◆ getConfigErrorForEdgeLeaf()

bool hpp::manipulation::graph::Graph::getConfigErrorForEdgeLeaf	(	ConfigurationIn_t	leafConfig,
		ConfigurationIn_t	config,
		const EdgePtr_t &	edge,
		vector_t &	error
	)		const

Get error of a config with respect to an edge foliation leaf

Parameters

leafConfig	Configuration that determines the foliation leaf
config	Configuration the error of which is computed

Return values

error the error

Returns: whether config can be the end point of a path of the edge starting at leafConfig Call methods core::ConfigProjector::rightHandSideFromConfig with leafConfig and then core::ConstraintSet::isSatisfied with config. on the edge constraints.

◆ getConfigErrorForEdgeTarget()

bool hpp::manipulation::graph::Graph::getConfigErrorForEdgeTarget	(	ConfigurationIn_t	leafConfig,
		ConfigurationIn_t	config,
		const EdgePtr_t &	edge,
		vector_t &	error
	)		const

Get error of a config with respect to the target of an edge foliation leaf

Parameters

leafConfig	Configuration that determines the foliation leaf
config	Configuration the error of which is computed

Return values

error the error

Returns: whether config can be the end point of a path of the edge starting at leafConfig Call methods core::ConfigProjector::rightHandSideFromConfig with leafConfig and then core::ConstraintSet::isSatisfied with config. on the edge constraints.

◆ getConfigErrorForState()

bool hpp::manipulation::graph::Graph::getConfigErrorForState	(	ConfigurationIn_t	config,
		const StatePtr_t &	state,
		vector_t &	error
	)		const

Get error of a config with respect to a state constraint

Parameters

config	Configuration,
state	state containing the constraint to check config against

Return values

error the error of the state constraint for the configuration

Returns: whether the configuration belongs to the state. Call method core::ConstraintSet::isSatisfied for the state constraints.

◆ getEdges()

Edges_t hpp::manipulation::graph::Graph::getEdges	(	const StatePtr_t &	from,
		const StatePtr_t &	to
	)		const

Get possible edges between two nodes.

◆ getState() [1/2]

StatePtr_t hpp::manipulation::graph::Graph::getState ( ConfigurationIn_t config ) const

Returns the state of a configuration.

◆ getState() [2/2]

StatePtr_t hpp::manipulation::graph::Graph::getState ( RoadmapNodePtr_t node ) const

Returns the state of a roadmap node.

◆ histograms()

const Histograms_t& hpp::manipulation::graph::Graph::histograms ( ) const

inline

Get the histograms.

◆ init()

void hpp::manipulation::graph::Graph::init	(	const GraphWkPtr_t &	weak,
		DevicePtr_t	robot
	)

protected

Initialization of the object.

◆ initialize()

virtual void hpp::manipulation::graph::Graph::initialize ( )

virtual

Initialize all components of the graph (edges and states)

Implements hpp::manipulation::graph::GraphComponent.

◆ insertHistogram()

void hpp::manipulation::graph::Graph::insertHistogram ( const graph::HistogramPtr_t & hist )

inline

Register an histogram representing a foliation.

◆ invalidate()

virtual void hpp::manipulation::graph::Graph::invalidate ( )

virtual

Invalidate all states and edges of the graph.

Reimplemented from hpp::manipulation::graph::GraphComponent.

◆ isComplement()

bool hpp::manipulation::graph::Graph::isComplement	(	const ImplicitPtr_t &	constraint,
		const ImplicitPtr_t &	complement,
		ImplicitPtr_t &	combinationOfBoth
	)		const

Test whether two constraints are complement of one another

Parameters

constraint,complement two constraints to test

Return values

combinationOfBoth constraint corresponding to combining constraint and complement if result is true, unchanged otherwise.

Returns: whether complement is the complement of constraint. Two constraints are complement of one another if and only if combined they constitute a complement relative transformation constraint.

See also: Graph::registerConstraints

Warning: argument order matters.

◆ maxIterations() [1/2]

size_type hpp::manipulation::graph::Graph::maxIterations ( ) const

Get maximal number of iterations in config projector.

◆ maxIterations() [2/2]

void hpp::manipulation::graph::Graph::maxIterations ( size_type iterations )

Set maximal number of iterations.

◆ nbComponents()

std::size_t hpp::manipulation::graph::Graph::nbComponents ( ) const

inline

◆ pathConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::Graph::pathConstraint ( const EdgePtr_t & edge ) const

Constraint to project a path.

Parameters

edge	a list of edges defining the foliation.

Returns: The constraint.

◆ print()

std::ostream& hpp::manipulation::graph::Graph::print ( std::ostream & os ) const

protectedvirtual

Print the object in a stream.

Reimplemented from hpp::manipulation::graph::GraphComponent.

◆ problem() [1/2]

const ProblemPtr_t& hpp::manipulation::graph::Graph::problem ( ) const

Get the problem.

◆ problem() [2/2]

void hpp::manipulation::graph::Graph::problem ( const ProblemPtr_t & problem )

Set the problem.

◆ registerConstraints()

void hpp::manipulation::graph::Graph::registerConstraints	(	const ImplicitPtr_t &	constraint,
		const ImplicitPtr_t &	complement,
		const ImplicitPtr_t &	both
	)

Register a triple of constraints to be inserted in nodes and edges

Parameters

constraint	a constraint (grasp of placement)
complement	the complement constraint
both	combination of the constraint and its complement. Both constraints together corresponds to a full relative transformation constraint When inserting constraints in transitions of the graph, in many cases, a constraint is associated to a state and the complement constraint is associated to the transition itself. Registering those constraints priorly to graph construction makes possible to replace the constraint and its complement by the combination of both that is an explicit constraint.

◆ robot()

const DevicePtr_t& hpp::manipulation::graph::Graph::robot ( ) const

Get the robot.

◆ self()

GraphPtr_t hpp::manipulation::graph::Graph::self ( ) const

inline

◆ stateSelector() [1/2]

StateSelectorPtr_t hpp::manipulation::graph::Graph::stateSelector ( ) const

inline

Get the state selector.

◆ stateSelector() [2/2]

void hpp::manipulation::graph::Graph::stateSelector ( StateSelectorPtr_t ns )

Set the state selector

Warning: This should be done before adding nodes to the node selector otherwise the pointer to the parent graph will NOT be valid.

◆ targetConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::Graph::targetConstraint ( const EdgePtr_t & edge ) const

Constraints a configuration in target state should satisfy

Parameters

edge	a transition

Returns: The set of constraints a configuration lying in the target state of the edge should satisfy. This set includes the paths constraints of the edge.

See also: Edge::targetConstraint.

Friends And Related Function Documentation

◆ GraphComponent

friend class GraphComponent

friend

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

include/hpp/manipulation/graph/graph.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Graph()

Member Function Documentation

◆ chooseEdge()

◆ clearConstraintsAndComplement()

◆ configConstraint()

◆ constraintsAndComplements()

◆ create()

◆ createStateSelector()

◆ dotPrint()

◆ errorThreshold() [1/2]

◆ errorThreshold() [2/2]

◆ get()

◆ getConfigErrorForEdge()

◆ getConfigErrorForEdgeLeaf()

◆ getConfigErrorForEdgeTarget()

◆ getConfigErrorForState()

◆ getEdges()

◆ getState() [1/2]

◆ getState() [2/2]

◆ histograms()

◆ init()

◆ initialize()

◆ insertHistogram()

◆ invalidate()

◆ isComplement()

◆ maxIterations() [1/2]

◆ maxIterations() [2/2]

◆ nbComponents()

◆ pathConstraint()

◆ print()

◆ problem() [1/2]

◆ problem() [2/2]

◆ registerConstraints()

◆ robot()

◆ self()

◆ stateSelector() [1/2]

◆ stateSelector() [2/2]

◆ targetConstraint()

Friends And Related Function Documentation

◆ GraphComponent