hpp::manipulation::graph::Edge Class Reference

Abstract class representing representing the link between two nodes. More...

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

Inheritance diagram for hpp::manipulation::graph::Edge:

Collaboration diagram for hpp::manipulation::graph::Edge:

List of all members.

Public Member Functions
	~Edge ()
	Destructor.
virtual bool	applyConstraints (core::NodePtr_t nnear, ConfigurationOut_t q) const
virtual bool	applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const
virtual bool	build (core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2, const core::WeighedDistance &d) const
NodePtr_t	to () const
	Get the destination.
NodePtr_t	from () const
	Get the origin.
virtual NodePtr_t	node () const
	Get the node in which path is.
void	isInNodeFrom (bool iinf)
bool	isInNodeFrom () const
virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the object in a stream.
Static Public Member Functions
static EdgePtr_t	create (const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to)
	Create a new empty Edge.
Protected Member Functions
void	init (const EdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to)
	Initialization of the object.
	Edge ()
	Constructor.
ConstraintSetPtr_t	configConstraint () const
	Constraint to project onto the same leaf as config.
ConstraintSetPtr_t	pathConstraint () const
	Constraint to project a path.
virtual ConstraintSetPtr_t	buildConfigConstraint () const
virtual ConstraintSetPtr_t	buildPathConstraint () const
virtual std::ostream &	print (std::ostream &os) const
	Print the object in a stream.
Friends
class	Graph

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Detailed Description

Abstract class representing representing the link between two nodes.

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Constructor & Destructor Documentation

hpp::manipulation::graph::Edge::~Edge

(

)

Destructor.

hpp::manipulation::graph::Edge::Edge

(

)

[protected]

Constructor.

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Member Function Documentation

virtual bool hpp::manipulation::graph::Edge::applyConstraints	(	core::NodePtr_t	nnear,
		ConfigurationOut_t	q
	)		const [virtual]

Reimplemented in hpp::manipulation::graph::LevelSetEdge.

virtual bool hpp::manipulation::graph::Edge::applyConstraints	(	ConfigurationIn_t	qoffset,
		ConfigurationOut_t	q
	)		const [virtual]

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

virtual bool hpp::manipulation::graph::Edge::build	(	core::PathPtr_t &	path,
		ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const core::WeighedDistance &	d
	)		const [virtual]

Reimplemented in hpp::manipulation::graph::WaypointEdge.

virtual ConstraintSetPtr_t hpp::manipulation::graph::Edge::buildConfigConstraint

(

)

const [protected, virtual]

virtual ConstraintSetPtr_t hpp::manipulation::graph::Edge::buildPathConstraint

(

)

const [protected, virtual]

ConstraintSetPtr_t hpp::manipulation::graph::Edge::configConstraint

(

)

const [protected]

Constraint to project onto the same leaf as config.

Returns:

The initialized projector.

static EdgePtr_t hpp::manipulation::graph::Edge::create	(	const GraphWkPtr_t &	graph,
		const NodeWkPtr_t &	from,
		const NodeWkPtr_t &	to
	)		[static]

Create a new empty Edge.

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

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

Print the object in a stream.

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

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

NodePtr_t hpp::manipulation::graph::Edge::from

(

)

const

Get the origin.

void hpp::manipulation::graph::Edge::init	(	const EdgeWkPtr_t &	weak,
		const GraphWkPtr_t &	graph,
		const NodeWkPtr_t &	from,
		const NodeWkPtr_t &	to
	)		[protected]

Initialization of the object.

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

void hpp::manipulation::graph::Edge::isInNodeFrom

(

bool

iinf

)

[inline]

bool hpp::manipulation::graph::Edge::isInNodeFrom

(

)

const [inline]

virtual NodePtr_t hpp::manipulation::graph::Edge::node

(

)

const [virtual]

Get the node in which path is.

Reimplemented in hpp::manipulation::graph::WaypointEdge.

ConstraintSetPtr_t hpp::manipulation::graph::Edge::pathConstraint

(

)

const [protected]

Constraint to project a path.

Returns:

The initialized constraint.

virtual std::ostream& hpp::manipulation::graph::Edge::print

(

std::ostream &

os

)

const [protected, virtual]

Print the object in a stream.

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

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

NodePtr_t hpp::manipulation::graph::Edge::to

(

)

const

Get the destination.

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Friends And Related Function Documentation

friend class Graph [friend]