hpp::manipulation::graph::Graph Class Reference

Description of the constraint graph. More...

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

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

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

List of all members.

Public Member Functions
NodeSelectorPtr_t	createNodeSelector ()
	Create and insert a NodeSelector inside the graph.
NodePtr_t	getNode (ConfigurationIn_t config) const
	Returns the states of a configuration.
Edges_t	getEdges (const NodePtr_t &from, const NodePtr_t &to) const
	Get possible edges between two nodes.
EdgePtr_t	chooseEdge (const NodePtr_t &node) const
	Select randomly outgoing edge of the given node.
ConstraintSetPtr_t	configConstraint (const NodePtr_t &node)
	Constraint to project onto the Node.
ConstraintSetPtr_t	configConstraint (const EdgePtr_t &edge)
	Constraint to project onto the same leaf as config.
ConstraintSetPtr_t	pathConstraint (const EdgePtr_t &edge)
	Constraint to project a path.
void	maxIterations (size_type iterations)
	Set maximal number of iterations.
size_type	maxIterations () const
	Get maximal number of iterations in config projector.
void	errorThreshold (const value_type &threshold)
	Set error threshold.
value_type	errorThreshold () const
	Get errorimal number of threshold in config projector.
const DevicePtr_t &	robot () const
	Get the robot.
virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the component in DOT language.
Static Public Member Functions
static GraphPtr_t	create (DevicePtr_t robot)
	Create a new Graph.
Protected Member Functions
void	init (const GraphWkPtr_t &weak, DevicePtr_t robot)
	Initialization of the object.
	Graph ()
	Constructor.
std::ostream &	print (std::ostream &os) const
	Print the object in a stream.

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Detailed Description

Description of the constraint graph.

This class contains a graph representing a robot with several end-effectors.

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 NodeSelector s
• A NodeSelector owns the Node s related to one gripper.
• A Node owns its outgoing Edge s.
• An Edge does not own anything.

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Constructor & Destructor Documentation

hpp::manipulation::graph::Graph::Graph

(

)

[inline, protected]

Constructor.

---

Member Function Documentation

EdgePtr_t hpp::manipulation::graph::Graph::chooseEdge

(

const NodePtr_t &

node

)

const

Select randomly outgoing edge of the given node.

ConstraintSetPtr_t hpp::manipulation::graph::Graph::configConstraint

(

const NodePtr_t &

node

)

Constraint to project onto the Node.

Parameters:

the	Node_t on which to project.

Returns:

The initialized projector.

ConstraintSetPtr_t hpp::manipulation::graph::Graph::configConstraint

(

const EdgePtr_t &

edge

)

Constraint to project onto the same leaf as config.

Parameters:

edges

a list of edges defining the foliation.

Returns:

The constraint.

static GraphPtr_t hpp::manipulation::graph::Graph::create

(

DevicePtr_t

robot

)

[static]

Create a new Graph.

NodeSelectorPtr_t hpp::manipulation::graph::Graph::createNodeSelector

(

)

Create and insert a NodeSelector inside the graph.

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.

void hpp::manipulation::graph::Graph::errorThreshold

(

const value_type &

threshold

)

Set error threshold.

value_type hpp::manipulation::graph::Graph::errorThreshold

(

)

const

Get errorimal number of threshold in config projector.

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

Get possible edges between two nodes.

NodePtr_t hpp::manipulation::graph::Graph::getNode

(

ConfigurationIn_t

config

)

const

Returns the states of a configuration.

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

Initialization of the object.

void hpp::manipulation::graph::Graph::maxIterations

(

size_type

iterations

)

Set maximal number of iterations.

size_type hpp::manipulation::graph::Graph::maxIterations

(

)

const

Get maximal number of iterations in config projector.

ConstraintSetPtr_t hpp::manipulation::graph::Graph::pathConstraint

(

const EdgePtr_t &

edge

)

Constraint to project a path.

Parameters:

edge	a list of edges defining the foliation.

Returns:

The constraint.

std::ostream& hpp::manipulation::graph::Graph::print

(

std::ostream &

os

)

const [protected, virtual]

Print the object in a stream.

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

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

(

)

const

Get the robot.