hpp::manipulation::graph::WaypointEdge Class Reference

Edge with waypoint. More...

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

Inheritance diagram for hpp::manipulation::graph::WaypointEdge:

Collaboration diagram for hpp::manipulation::graph::WaypointEdge:

List of all members.

Public Member Functions
virtual bool	build (core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2, const core::WeighedDistance &d) const
virtual bool	applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const
template<class EdgeType >
boost::shared_ptr< EdgeType >	waypoint () const
	Return the inner waypoint.
virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the object in a stream.
void	createWaypoint (const unsigned int depth, const std::string &bname="WaypointEdge")
	Create inner waypoints.
NodePtr_t	node () const
	Get the node in which path after the waypoint is.
Static Public Member Functions
static WaypointEdgePtr_t	create (const GraphWkPtr_t &graph, const NodeWkPtr_t &from, const NodeWkPtr_t &to)
	Create a new WaypointEdge.
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.
virtual std::ostream &	print (std::ostream &os) const
	Print the object in a stream.

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Detailed Description

Edge with waypoint.

Waypoints are handled recursively, i.e. class WaypointEdge contains only a Node and an Edge, the second Edge being itself. In this package, the Node in a WaypointEdge is semantically different from other Node because it does not correspond to a state with different manipulation rules. It has the same rules as another Node (either Edge::from() or Edge::to()).

Semantically, a waypoint Node is fully part of the WaypointEdge. When a corresponding path reaches it, no planning is required to know what to do next. To the contrary, when a path reaches Edge::from() or Edge::to(), there may be several possibilities.

Note:

Implementation details: let's say, between the two nodes and , two waypoints are required: . The outmost WaypointEdg contains:

• from: ,
• to: ,
• constraints: those of edge ,
• waypoint: .

where is an instance of class WaypointEdge containing:

• from: ,
• to: ,
• constraints: those of edge ,
• waypoint: .

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Member Function Documentation

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

Reimplemented from hpp::manipulation::graph::Edge.

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

Reimplemented from hpp::manipulation::graph::Edge.

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

Create a new WaypointEdge.

Reimplemented from hpp::manipulation::graph::Edge.

void hpp::manipulation::graph::WaypointEdge::createWaypoint	(	const unsigned int	depth,
		const std::string &	bname = "WaypointEdge"
	)

Create inner waypoints.

Parameters:

depth	the number of waypoints between from() and to() minus 1.
bname	basename used for naming.

Note:

inner edges are named bname + "_e" + pos inner nodes are named bname + "_n" + pos

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

Print the object in a stream.

Reimplemented from hpp::manipulation::graph::Edge.

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

Initialization of the object.

Reimplemented from hpp::manipulation::graph::Edge.

NodePtr_t hpp::manipulation::graph::WaypointEdge::node

(

)

const [virtual]

Get the node in which path after the waypoint is.

Reimplemented from hpp::manipulation::graph::Edge.

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

(

std::ostream &

os

)

const [protected, virtual]

Print the object in a stream.

Reimplemented from hpp::manipulation::graph::Edge.

template<class EdgeType >

boost::shared_ptr<EdgeType> hpp::manipulation::graph::WaypointEdge::waypoint

(

)

const

Return the inner waypoint.

Parameters:

EdgeType

is either Edge or WaypointEdge