hpp-manipulation  6.0.0
Classes for manipulation planning.
Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
hpp::manipulation::graph::GraphComponent Class Referenceabstract
Constraint Graph

Define common methods of the graph components. More...

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

Inheritance diagram for hpp::manipulation::graph::GraphComponent:
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Public Member Functions

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

Protected Member Functions

void init (const GraphComponentWkPtr_t &weak)
 Initialize the component. More...
 
 GraphComponent (const std::string &name)
 
void throwIfNotInitialized () const
 
virtual std::ostream & print (std::ostream &os) const
 Print the object in a stream. More...
 
virtual void populateTooltip (dot::Tooltip &tp) const
 Populate DrawingAttributes tooltip. More...
 
virtual void initialize ()=0
 

Protected Attributes

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_
 

Friends

class Graph
 
std::ostream & operator<< (std::ostream &, const GraphComponent &)
 

Detailed Description

Define common methods of the graph components.

Constructor & Destructor Documentation

◆ ~GraphComponent()

virtual hpp::manipulation::graph::GraphComponent::~GraphComponent ( )
inlinevirtual

◆ GraphComponent()

hpp::manipulation::graph::GraphComponent::GraphComponent ( const std::string &  name)
inlineprotected

Member Function Documentation

◆ addNumericalConstraint()

virtual void hpp::manipulation::graph::GraphComponent::addNumericalConstraint ( const ImplicitPtr_t &  numConstraint)
virtual

Add constraint to the component.

Reimplemented in hpp::manipulation::graph::State.

◆ addNumericalCost()

virtual void hpp::manipulation::graph::GraphComponent::addNumericalCost ( const ImplicitPtr_t &  numCost)
virtual

Add a cost function Implicit to the component.

◆ dotPrint()

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

Print the component in DOT language.

Reimplemented in hpp::manipulation::graph::State, hpp::manipulation::graph::Graph, hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::WaypointEdge, and hpp::manipulation::graph::Edge.

◆ id()

const std::size_t& hpp::manipulation::graph::GraphComponent::id ( ) const
inline

Return the component id.

◆ init()

void hpp::manipulation::graph::GraphComponent::init ( const GraphComponentWkPtr_t &  weak)
protected

Initialize the component.

◆ initialize()

virtual void hpp::manipulation::graph::GraphComponent::initialize ( )
protectedpure virtual

Implemented in hpp::manipulation::graph::State, hpp::manipulation::graph::Graph, hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::WaypointEdge, and hpp::manipulation::graph::Edge.

◆ insertNumericalConstraints()

bool hpp::manipulation::graph::GraphComponent::insertNumericalConstraints ( ConfigProjectorPtr_t &  proj) const

Insert the numerical constraints in a ConfigProjector

Returns
true is at least one ImplicitPtr_t was inserted.

◆ invalidate()

virtual void hpp::manipulation::graph::GraphComponent::invalidate ( )
inlinevirtual

Invalidate the component The component needs to be initialized again.

Reimplemented in hpp::manipulation::graph::Graph.

◆ name()

const std::string& hpp::manipulation::graph::GraphComponent::name ( ) const

Get the component name.

◆ numericalConstraints()

const NumericalConstraints_t& hpp::manipulation::graph::GraphComponent::numericalConstraints ( ) const

Get a reference to the NumericalConstraints_t.

◆ numericalCosts()

const NumericalConstraints_t& hpp::manipulation::graph::GraphComponent::numericalCosts ( ) const

Get a reference to the NumericalConstraints_t.

◆ parentGraph() [1/2]

GraphPtr_t hpp::manipulation::graph::GraphComponent::parentGraph ( ) const

Set the parent graph.

◆ parentGraph() [2/2]

void hpp::manipulation::graph::GraphComponent::parentGraph ( const GraphWkPtr_t &  parent)

Set the parent graph.

◆ populateTooltip()

virtual void hpp::manipulation::graph::GraphComponent::populateTooltip ( dot::Tooltip &  tp) const
protectedvirtual

Populate DrawingAttributes tooltip.

Reimplemented in hpp::manipulation::graph::State, and hpp::manipulation::graph::LevelSetEdge.

◆ print()

virtual std::ostream& hpp::manipulation::graph::GraphComponent::print ( std::ostream &  os) const
protectedvirtual

Print the object in a stream.

Reimplemented in hpp::manipulation::graph::State, hpp::manipulation::graph::Graph, hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::WaypointEdge, and hpp::manipulation::graph::Edge.

◆ resetNumericalConstraints()

virtual void hpp::manipulation::graph::GraphComponent::resetNumericalConstraints ( )
virtual

Reset the numerical constraints stored in the component.

◆ solveLevelByLevel() [1/2]

bool hpp::manipulation::graph::GraphComponent::solveLevelByLevel ( ) const
inline

Get whether hierachical constraints are solved level by level

See also
hpp::constraints::solver::HierarchicalIterative

◆ solveLevelByLevel() [2/2]

void hpp::manipulation::graph::GraphComponent::solveLevelByLevel ( bool  solveLevelByLevel)
inline

Set whether hierachical constraints are solved level by level

See also
hpp::constraints::solver::HierarchicalIterative

◆ throwIfNotInitialized()

void hpp::manipulation::graph::GraphComponent::throwIfNotInitialized ( ) const
protected

Friends And Related Function Documentation

◆ Graph

friend class Graph
friend

◆ operator<<

std::ostream& operator<< ( std::ostream &  ,
const GraphComponent &   
)
friend

Member Data Documentation

◆ graph_

GraphWkPtr_t hpp::manipulation::graph::GraphComponent::graph_
protected

A weak pointer to the parent graph.

◆ isInit_

bool hpp::manipulation::graph::GraphComponent::isInit_
protected

◆ numericalConstraints_

NumericalConstraints_t hpp::manipulation::graph::GraphComponent::numericalConstraints_
protected

Stores the numerical constraints.

◆ numericalCosts_

NumericalConstraints_t hpp::manipulation::graph::GraphComponent::numericalCosts_
protected

Stores the numerical costs.

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