hpp::manipulation::ConnectedComponent Class Reference

Extension of hpp::core::connected-component. More...

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

Inheritance diagram for hpp::manipulation::ConnectedComponent:

Collaboration diagram for hpp::manipulation::ConnectedComponent:

Public Types
typedef std::map< graph::StatePtr_t, RoadmapNodes_t >	GraphStates_t
	Map of graph states within the connected component. More...
Public Types inherited from hpp::core::ConnectedComponent
typedef ConnectedComponent *	RawPtr_t
typedef std::set< RawPtr_t >	RawPtrs_t

Public Member Functions
	ConnectedComponent ()
void	merge (const core::ConnectedComponentPtr_t &otherCC)
	Merge two connected components (extension of core::ConnectedComponent::merge) More...
void	addNode (const core::NodePtr_t &node)
	Add roadmap node to connected component. More...
const RoadmapNodes_t &	getRoadmapNodes (const graph::StatePtr_t graphState) const
Public Member Functions inherited from hpp::core::ConnectedComponent
virtual	~ConnectedComponent ()
const NodeVector_t &	nodes () const
ConnectedComponentPtr_t	self ()
bool	canReach (const ConnectedComponentPtr_t &cc)
bool	canReach (const ConnectedComponentPtr_t &cc, RawPtrs_t &cc2Tocc1)
const RawPtrs_t &	reachableTo () const
const RawPtrs_t &	reachableFrom () const
bool	canReach (const ConnectedComponentPtr_t &cc)
bool	canReach (const ConnectedComponentPtr_t &cc, RawPtrs_t &cc2Tocc1)
const RawPtrs_t &	reachableTo () const
const RawPtrs_t &	reachableFrom () const

Static Public Member Functions
static ConnectedComponentPtr_t	create (const RoadmapWkPtr_t &roadmap)
	return a shared pointer to new instance of manipulation::ConnectedComponent More...
Static Public Member Functions inherited from hpp::core::ConnectedComponent
static ConnectedComponentPtr_t	create ()

Additional Inherited Members
Static Public Attributes inherited from hpp::core::ConnectedComponent
static unsigned int	globalFinishTime_
Protected Member Functions inherited from hpp::core::ConnectedComponent
	ConnectedComponent ()
void	init (const ConnectedComponentPtr_t &shPtr)

Detailed Description

Extension of hpp::core::connected-component.

Adds a list of roadmap nodes for every contraint graph state within the connected component. Thus every roadmap node is assigned to a grahp state, which minimises computation time.

Member Typedef Documentation

typedef std::map<graph::StatePtr_t, RoadmapNodes_t> hpp::manipulation::ConnectedComponent::GraphStates_t

Map of graph states within the connected component.

Constructor & Destructor Documentation

hpp::manipulation::ConnectedComponent::ConnectedComponent ( )

inline

References create().

Member Function Documentation

void hpp::manipulation::ConnectedComponent::addNode ( const core::NodePtr_t &  node )

virtual

Add roadmap node to connected component.

Parameters

roadmap

node to be added

Reimplemented from hpp::core::ConnectedComponent.

static ConnectedComponentPtr_t hpp::manipulation::ConnectedComponent::create ( const RoadmapWkPtr_t &  roadmap )

static

return a shared pointer to new instance of manipulation::ConnectedComponent

const RoadmapNodes_t& hpp::manipulation::ConnectedComponent::getRoadmapNodes

(

const graph::StatePtr_t

graphState

)

const

void hpp::manipulation::ConnectedComponent::merge ( const core::ConnectedComponentPtr_t &  otherCC )

virtual

Merge two connected components (extension of core::ConnectedComponent::merge)

Parameters

other

manipulation connected component to merge into this one.

Note

other will be empty after calling this method.

Reimplemented from hpp::core::ConnectedComponent.