Transition between two states of a constraint graph. More...

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

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

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

Public Types
typedef core::RelativeMotion	RelativeMotion

Public Member Functions
virtual	~Edge ()
	Destructor. More...

virtual bool	applyConstraints (core::NodePtr_t nnear, ConfigurationOut_t q) const
	Apply edge constraint. More...

virtual bool	applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const
	Apply edge constraint. More...

virtual bool	canConnect (ConfigurationIn_t q1, ConfigurationIn_t q2) const

virtual bool	build (core::PathPtr_t &path, ConfigurationIn_t q1, ConfigurationIn_t q2) const

StatePtr_t	to () const
	Get the destination. More...

StatePtr_t	from () const
	Get the origin. More...

StatePtr_t	state () const
	Get the state in which path is. More...

void	state (StatePtr_t state)

const core::SteeringMethodPtr_t &	steeringMethod () const
	Get steering method associated to the edge. More...

const core::PathValidationPtr_t &	pathValidation () const
	Get path validation associated to the edge. More...

const RelativeMotion::matrix_type &	relativeMotion () const

void	relativeMotion (const RelativeMotion::matrix_type &m)
	Update the relative motion matrix. More...

virtual bool	direction (const core::PathPtr_t &path) const
	Get direction of the path compare to the edge. More...

virtual bool	intersectionConstraint (const EdgePtr_t &other, ConfigProjectorPtr_t projector) const
	Populate a ConfigProjector with constraints required to generate a path at the intersection of two edges. More...

virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the object in a stream. More...

ConstraintSetPtr_t	configConstraint () const
	Constraint of the destination state and of the path. More...

void	setShort (bool isShort)

bool	isShort () const

ConstraintSetPtr_t	pathConstraint () const
	Constraint to project a path. More...

Public Member Functions inherited from hpp::manipulation::graph::GraphComponent
virtual	~GraphComponent ()

const std::string &	name () const
	Get the component name. More...

const std::size_t &	id () const
	Return the component id. More...

virtual void	addNumericalConstraint (const ImplicitPtr_t &numConstraint, const segments_t &passiveDofs=segments_t())
	Add Implicit to the component. More...

virtual void	addNumericalConstraint (const DifferentiableFunctionPtr_t &function, const ComparisonTypes_t &ineq) HPP_MANIPULATION_DEPRECATED
	Add core::DifferentiableFunction to the component. More...

virtual void	resetNumericalConstraints ()
	Reset the numerical constraints stored in the component. More...

virtual void	addLockedJointConstraint (const LockedJointPtr_t &constraint)
	Add core::LockedJoint constraint to the component. More...

virtual void	resetLockedJoints ()
	Reset the locked joint in the component. More...

bool	insertNumericalConstraints (ConfigProjectorPtr_t &proj) const
	Insert the numerical constraints in a ConfigProjector. More...

bool	insertLockedJoints (ConfigProjectorPtr_t &cs) const
	Insert the LockedJoint constraints in a ConstraintSet. More...

const NumericalConstraints_t &	numericalConstraints () const
	Get a reference to the NumericalConstraints_t. More...

const IntervalsContainer_t &	passiveDofs () const
	Get a reference to the NumericalConstraints_t. More...

const LockedJoints_t &	lockedJoints () const
	Get a reference to the LockedJoints_t. More...

void	parentGraph (const GraphWkPtr_t &parent)
	Set the parent graph. More...

GraphPtr_t	parentGraph () const
	Set the parent graph. More...

void	setDirty ()
	Declare a component as dirty. More...

Static Public Member Functions
static EdgePtr_t	create (const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Create a new empty Edge. More...

Protected Member Functions
void	init (const EdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Initialization of the object. More...

	Edge (const std::string &name)
	Constructor. More...

virtual ConstraintSetPtr_t	buildConfigConstraint ()

virtual ConstraintSetPtr_t	buildPathConstraint ()

virtual void	initialize ()

virtual std::ostream &	print (std::ostream &os) const
	Print the object in a stream. More...

Protected Member Functions inherited from hpp::manipulation::graph::GraphComponent
void	init (const GraphComponentWkPtr_t &weak)
	Initialize the component. More...

	GraphComponent (const std::string &name)

void	throwIfNotInitialized () const

virtual void	populateTooltip (dot::Tooltip &tp) const
	Populate DrawingAttributes tooltip. More...

Protected Attributes
bool	isShort_

Protected Attributes inherited from hpp::manipulation::graph::GraphComponent
NumericalConstraints_t	numericalConstraints_
	Stores the numerical constraints. More...

IntervalsContainer_t	passiveDofs_
	Stores the passive dofs for each numerical constraints. More...

LockedJoints_t	lockedJoints_
	List of LockedJoint constraints. More...

GraphWkPtr_t	graph_
	A weak pointer to the parent graph. More...

bool	isInit_

Friends
class	Graph

Detailed Description

Transition between two states of a constraint graph.

An edge stores two types of constraints.

Path constraints should be safisfied by paths belonging to the edge. Along any path, the right hand side of the constraint is constant, but can differ between paths. For instance if an edge represents a transit path of a robot that can grasp an object, the right hand side of the constraint represents the position of the object. Along any transit path, the object does not move, but for different paths the object can be at different positions.
See also
method pathConstraint.
Configuration constraints are constraints that configurations in the destination state should satisfy and the constraints that paths should satisfy. For instance, if the edge links a state where the robot does not hold the object to a state where the robot holds the object, the configuration constraints represent a fixed relative position of the object with respect to the gripper and a stable position of the object. Configuration constraints are necessary to generate a configuration in the destination state of the edge that is reachable from a given configuration in the start state by an admissible path.

Member Typedef Documentation

typedef core::RelativeMotion hpp::manipulation::graph::Edge::RelativeMotion

Constructor & Destructor Documentation

virtual hpp::manipulation::graph::Edge::~Edge ( )

virtual

Destructor.

hpp::manipulation::graph::Edge::Edge ( const std::string & name )

protected

Constructor.

Member Function Documentation

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

virtual

Apply edge constraint.

Parameters

	nnear	node containing the configuration defining the right hand side of the edge constraint,
[in,out]	q	configuration to which the edge constraint is applied.

See also: hpp::core::ConfigProjector::rightHandSideFromConfig

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

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

virtual

Apply edge constraint.

Parameters

	qoffset	configuration defining the right hand side of the edge constraint,
[in,out]	q	configuration to which the edge constraint is applied.

See also: hpp::core::ConfigProjector::rightHandSideFromConfig

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

virtual

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

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

protectedvirtual

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

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

protectedvirtual

virtual bool hpp::manipulation::graph::Edge::canConnect	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2
	)		const

virtual

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

ConstraintSetPtr_t hpp::manipulation::graph::Edge::configConstraint ( ) const

Constraint of the destination state and of the path.

static EdgePtr_t hpp::manipulation::graph::Edge::create	(	const std::string &	name,
		const GraphWkPtr_t &	graph,
		const StateWkPtr_t &	from,
		const StateWkPtr_t &	to
	)

static

Create a new empty Edge.

virtual bool hpp::manipulation::graph::Edge::direction ( const core::PathPtr_t & path ) const

virtual

Get direction of the path compare to the edge.

Returns: true is reverse

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.

StatePtr_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 StateWkPtr_t &	from,
		const StateWkPtr_t &	to
	)

protected

Initialization of the object.

virtual void hpp::manipulation::graph::Edge::initialize ( )

protectedvirtual

Implements hpp::manipulation::graph::GraphComponent.

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

virtual bool hpp::manipulation::graph::Edge::intersectionConstraint	(	const EdgePtr_t &	other,
		ConfigProjectorPtr_t	projector
	)		const

virtual

Populate a ConfigProjector with constraints required to generate a path at the intersection of two edges.

bool hpp::manipulation::graph::Edge::isShort ( ) const

inline

References init(), and print().

ConstraintSetPtr_t hpp::manipulation::graph::Edge::pathConstraint ( ) const

Constraint to project a path.

Returns: The initialized constraint.

const core::PathValidationPtr_t& hpp::manipulation::graph::Edge::pathValidation ( ) const

inline

Get path validation associated to the edge.

virtual std::ostream& hpp::manipulation::graph::Edge::print ( std::ostream & os ) const

protectedvirtual

Print the object in a stream.

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

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

const RelativeMotion::matrix_type& hpp::manipulation::graph::Edge::relativeMotion ( ) const

inline

void hpp::manipulation::graph::Edge::relativeMotion ( const RelativeMotion::matrix_type & m )

Update the relative motion matrix.

void hpp::manipulation::graph::Edge::setShort ( bool isShort )

inline

StatePtr_t hpp::manipulation::graph::Edge::state ( ) const

inline

Get the state in which path is.

void hpp::manipulation::graph::Edge::state ( StatePtr_t state )

inline

const core::SteeringMethodPtr_t& hpp::manipulation::graph::Edge::steeringMethod ( ) const

inline

Get steering method associated to the edge.

References steeringMethod_.

StatePtr_t hpp::manipulation::graph::Edge::to ( ) const

Get the destination.

Friends And Related Function Documentation

friend class Graph

friend

Member Data Documentation

bool hpp::manipulation::graph::Edge::isShort_

protected

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation