hpp::manipulation::graph::Node Class Reference

State of an end-effector. More...

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

Inheritance diagram for hpp::manipulation::graph::Node:

Collaboration diagram for hpp::manipulation::graph::Node:

List of all members.

Public Member Functions
	~Node ()
	Destructor.
EdgePtr_t	linkTo (const NodePtr_t &to, const Weight_t &w=1, const bool &isInNodeFrom=false, boost::function< EdgePtr_t(const GraphWkPtr_t &, const NodeWkPtr_t &, const NodeWkPtr_t &) > create=Edge::create)
	Create a link from this node to the given node.
virtual bool	contains (ConfigurationIn_t config) const
	Check whether the configuration is in this state.
NodeSelectorWkPtr_t	nodeSelector () const
	Get the parent NodeSelector.
void	nodeSelector (const NodeSelectorWkPtr_t &parent)
	Set the NodeSelector containing this node.
const Neighbors_t &	neighbors () const
	Get the neighbors.
void	updateWeight (const EdgePtr_t &edge, const Weight_t &w)
ConstraintSetPtr_t	configConstraint () const
	Constraint to project onto this node.
virtual void	addNumericalConstraintForPath (const NumericalConstraintPtr_t &nm, const SizeIntervals_t &passiveDofs=SizeIntervals_t())
	Add core::NumericalConstraint to the component.
virtual void	addNumericalConstraintForPath (const DifferentiableFunctionPtr_t &function, const ComparisonTypePtr_t &ineq) HPP_MANIPULATION_DEPRECATED
	Add core::DifferentiableFunction to the component.
bool	insertNumericalConstraintsForPath (ConfigProjectorPtr_t &proj) const
	Insert the numerical constraints in a ConfigProjector.
const NumericalConstraints_t &	numericalConstraintsForPath () const
	Get a reference to the NumericalConstraints_t.
std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the object in a stream.
Static Public Member Functions
static NodePtr_t	create ()
	Create a new node.
Protected Member Functions
void	init (const NodeWkPtr_t &self)
	Initialize the object.
	Node ()
	Constructor.
std::ostream &	print (std::ostream &os) const
	Print the object in a stream.
virtual void	populateTooltip (dot::Tooltip &tp) const
	Populate DrawingAttributes tooltip.

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Detailed Description

State of an end-effector.

Nodes of the graph of constraints. There is one graph for each end-effector.

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Constructor & Destructor Documentation

hpp::manipulation::graph::Node::~Node

(

)

Destructor.

hpp::manipulation::graph::Node::Node

(

)

[protected]

Constructor.

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Member Function Documentation

virtual void hpp::manipulation::graph::Node::addNumericalConstraintForPath	(	const NumericalConstraintPtr_t &	nm,
		const SizeIntervals_t &	passiveDofs = SizeIntervals_t ()
	)		[inline, virtual]

Add core::NumericalConstraint to the component.

virtual void hpp::manipulation::graph::Node::addNumericalConstraintForPath	(	const DifferentiableFunctionPtr_t &	function,
		const ComparisonTypePtr_t &	ineq
	)		[inline, virtual]

Add core::DifferentiableFunction to the component.

References hpp::core::NumericalConstraint::create().

ConstraintSetPtr_t hpp::manipulation::graph::Node::configConstraint

(

)

const

Constraint to project onto this node.

virtual bool hpp::manipulation::graph::Node::contains

(

ConfigurationIn_t

config

)

const [virtual]

Check whether the configuration is in this state.

   return configConstraint()->isSatisfied (config);

Note:

You should not use this method to know in which states a configuration is. This only checks if the configuration satisfies the constraints. Instead, use the class NodeSelector.

static NodePtr_t hpp::manipulation::graph::Node::create

(

)

[static]

Create a new node.

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

Print the object in a stream.

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

void hpp::manipulation::graph::Node::init

(

const NodeWkPtr_t &

self

)

[protected]

Initialize the object.

bool hpp::manipulation::graph::Node::insertNumericalConstraintsForPath

(

ConfigProjectorPtr_t &

proj

)

const [inline]

Insert the numerical constraints in a ConfigProjector.

Returns:

true is at least one NumericalConstraintPtr_t was inserted.

EdgePtr_t hpp::manipulation::graph::Node::linkTo	(	const NodePtr_t &	to,
		const Weight_t &	w = 1,
		const bool &	isInNodeFrom = false,
		boost::function< EdgePtr_t(const GraphWkPtr_t &, const NodeWkPtr_t &, const NodeWkPtr_t &) >	create = Edge::create
	)

Create a link from this node to the given node.

const Neighbors_t& hpp::manipulation::graph::Node::neighbors

(

)

const [inline]

Get the neighbors.

NodeSelectorWkPtr_t hpp::manipulation::graph::Node::nodeSelector

(

)

const [inline]

Get the parent NodeSelector.

void hpp::manipulation::graph::Node::nodeSelector

(

const NodeSelectorWkPtr_t &

parent

)

[inline]

Set the NodeSelector containing this node.

const NumericalConstraints_t& hpp::manipulation::graph::Node::numericalConstraintsForPath

(

)

const [inline]

Get a reference to the NumericalConstraints_t.

virtual void hpp::manipulation::graph::Node::populateTooltip

(

dot::Tooltip &

tp

)

const [protected, virtual]

Populate DrawingAttributes tooltip.

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

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

(

std::ostream &

os

)

const [protected, virtual]

Print the object in a stream.

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

void hpp::manipulation::graph::Node::updateWeight	(	const EdgePtr_t &	edge,
		const Weight_t &	w
	)