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:

Public Member Functions
StateSelectorPtr_t	createNodeSelector (const std::string &name) HPP_MANIPULATION_DEPRECATED
	Create and insert a state selector inside the graph. More...

StateSelectorPtr_t	createStateSelector (const std::string &name)
	Create and insert a state selector inside the graph. More...

void	nodeSelector (StateSelectorPtr_t ns) HPP_MANIPULATION_DEPRECATED
	Set the state selector. More...

void	stateSelector (StateSelectorPtr_t ns)
	Set the state selector. More...

StateSelectorPtr_t	nodeSelector () const HPP_MANIPULATION_DEPRECATED
	Get the state selector. More...

StateSelectorPtr_t	stateSelector () const
	Get the state selector. More...

StatePtr_t	getNode (ConfigurationIn_t config) const HPP_MANIPULATION_DEPRECATED
	Returns the states of a configuration. More...

StatePtr_t	getState (ConfigurationIn_t config) const
	Returns the state of a configuration. More...

StatePtr_t	getNode (RoadmapNodePtr_t node) const
	Returns the state of a roadmap node. More...

StatePtr_t	getState (RoadmapNodePtr_t node) const
	Returns the state of a roadmap node. More...

Edges_t	getEdges (const StatePtr_t &from, const StatePtr_t &to) const
	Get possible edges between two nodes. More...

EdgePtr_t	chooseEdge (RoadmapNodePtr_t node) const
	Select randomly outgoing edge of the given node. More...

void	registerConstraints (const ImplicitPtr_t &constraint, const ImplicitPtr_t &complement, const ImplicitPtr_t &both)
	Register a triple of constraints to be inserted in nodes and edges. More...

bool	isComplement (const ImplicitPtr_t &constraint, const ImplicitPtr_t &complement, ImplicitPtr_t &combinationOfBoth) const
	Test whether two constraints are complement of one another. More...

ConstraintSetPtr_t	configConstraint (const StatePtr_t &state) const
	Constraint to project onto the Node. More...

ConstraintSetPtr_t	configConstraint (const EdgePtr_t &edge) const
	Constraint to project onto the same leaf as config. More...

bool	getConfigErrorForNode (ConfigurationIn_t config, const StatePtr_t &state, vector_t &error) const HPP_MANIPULATION_DEPRECATED
	Get error of a config with respect to a state constraint. More...

bool	getConfigErrorForState (ConfigurationIn_t config, const StatePtr_t &state, vector_t &error) const
	Get error of a config with respect to a state constraint. More...

bool	getConfigErrorForEdge (ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const
	Get error of a config with respect to an edge constraint. More...

bool	getConfigErrorForEdgeLeaf (ConfigurationIn_t leafConfig, ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const
	Get error of a config with respect to an edge foliation leaf. More...

bool	getConfigErrorForEdgeTarget (ConfigurationIn_t leafConfig, ConfigurationIn_t config, const EdgePtr_t &edge, vector_t &error) const
	Get error of a config with respect to the target of an edge foliation leaf. More...

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

void	maxIterations (size_type iterations)
	Set maximal number of iterations. More...

size_type	maxIterations () const
	Get maximal number of iterations in config projector. More...

void	errorThreshold (const value_type &threshold)
	Set error threshold. More...

value_type	errorThreshold () const
	Get error threshold in config projector. More...

const DevicePtr_t &	robot () const
	Get the robot. More...

const ProblemPtr_t &	problem () const
	Get the problem. More...

void	problem (const ProblemPtr_t &problem)
	Set the problem. More...

void	insertHistogram (const graph::HistogramPtr_t &hist)
	Register an histogram representing a foliation. More...

const Histograms_t &	histograms () const
	Get the histograms. More...

GraphComponentWkPtr_t	get (std::size_t id) const
	Get the component by its ID. More...

std::size_t	nbComponents () const

virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the component in DOT language. More...

virtual void	initialize ()

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 GraphPtr_t	create (const std::string &name, DevicePtr_t robot, const ProblemPtr_t &problem)
	Create a new Graph. More...

Protected Member Functions
void	init (const GraphWkPtr_t &weak, DevicePtr_t robot)
	Initialization of the object. More...

	Graph (const std::string &name, const ProblemPtr_t &problem)
	Constructor. More...

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...

Friends
class	GraphComponent

Additional Inherited Members
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_

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

Constructor & Destructor Documentation

hpp::manipulation::graph::Graph::Graph	(	const std::string &	name,
		const ProblemPtr_t &	problem
	)

inlineprotected

Constructor.

Parameters

sm	a steering method to create paths from edges

References print(), and robot_.

Member Function Documentation

EdgePtr_t hpp::manipulation::graph::Graph::chooseEdge ( RoadmapNodePtr_t node ) const

Select randomly outgoing edge of the given node.

ConstraintSetPtr_t hpp::manipulation::graph::Graph::configConstraint ( const StatePtr_t & state ) const

Constraint to project onto the Node.

Parameters

state the state on which to project.

Returns: The initialized projector.

ConstraintSetPtr_t hpp::manipulation::graph::Graph::configConstraint ( const EdgePtr_t & edge ) const

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	(	const std::string &	name,
		DevicePtr_t	robot,
		const ProblemPtr_t &	problem
	)

static

Create a new Graph.

Parameters

robot	a manipulation robot
problem	a pointer to the problem

StateSelectorPtr_t hpp::manipulation::graph::Graph::createNodeSelector ( const std::string & name )

Create and insert a state selector inside the graph.

Deprecated:: use createStateSelector instead

StateSelectorPtr_t hpp::manipulation::graph::Graph::createStateSelector ( const std::string & name )

Create and insert a state selector 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 error threshold in config projector.

GraphComponentWkPtr_t hpp::manipulation::graph::Graph::get ( std::size_t id ) const

Get the component by its ID.

bool hpp::manipulation::graph::Graph::getConfigErrorForEdge	(	ConfigurationIn_t	config,
		const EdgePtr_t &	edge,
		vector_t &	error
	)		const

Get error of a config with respect to an edge constraint.

Parameters

config	Configuration,
edge	edge containing the constraint to check config against

Return values

error the error of the edge constraint for the configuration

Returns: whether the configuration can be a start point of a path Call core::ConfigProjector::rightHandSideFromConfig with input configuration and method core::ConstraintSet::isSatisfied for the edge constraint.

bool hpp::manipulation::graph::Graph::getConfigErrorForEdgeLeaf	(	ConfigurationIn_t	leafConfig,
		ConfigurationIn_t	config,
		const EdgePtr_t &	edge,
		vector_t &	error
	)		const

Get error of a config with respect to an edge foliation leaf.

Parameters

leafConfig	Configuration that determines the foliation leaf
config	Configuration the error of which is computed

Return values

error the error

Returns: whether config can be the end point of a path of the edge starting at leafConfig Call methods core::ConfigProjector::rightHandSideFromConfig with leafConfig and then core::ConstraintSet::isSatisfied with config. on the edge constraints.

bool hpp::manipulation::graph::Graph::getConfigErrorForEdgeTarget	(	ConfigurationIn_t	leafConfig,
		ConfigurationIn_t	config,
		const EdgePtr_t &	edge,
		vector_t &	error
	)		const

Get error of a config with respect to the target of an edge foliation leaf.

Parameters

leafConfig	Configuration that determines the foliation leaf
config	Configuration the error of which is computed

Return values

error the error

Returns: whether config can be the end point of a path of the edge starting at leafConfig Call methods core::ConfigProjector::rightHandSideFromConfig with leafConfig and then core::ConstraintSet::isSatisfied with config. on the edge constraints.

bool hpp::manipulation::graph::Graph::getConfigErrorForNode	(	ConfigurationIn_t	config,
		const StatePtr_t &	state,
		vector_t &	error
	)		const

Get error of a config with respect to a state constraint.

Parameters

config	Configuration,
state	state containing the constraint to check config against

Return values

error the error of the state constraint for the configuration

Returns: whether the configuration belongs to the state. Call method core::ConstraintSet::isSatisfied for the state constraints.

Deprecated:: use getConfigErrorForState instead

bool hpp::manipulation::graph::Graph::getConfigErrorForState	(	ConfigurationIn_t	config,
		const StatePtr_t &	state,
		vector_t &	error
	)		const

Get error of a config with respect to a state constraint.

Parameters

config	Configuration,
state	state containing the constraint to check config against

Return values

error the error of the state constraint for the configuration

Returns: whether the configuration belongs to the state. Call method core::ConstraintSet::isSatisfied for the state constraints.

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

Get possible edges between two nodes.

StatePtr_t hpp::manipulation::graph::Graph::getNode ( ConfigurationIn_t config ) const

Returns the states of a configuration.

Deprecated:: use getState instead

StatePtr_t hpp::manipulation::graph::Graph::getNode ( RoadmapNodePtr_t node ) const

Returns the state of a roadmap node.

Deprecated:: use getState instead

StatePtr_t hpp::manipulation::graph::Graph::getState ( ConfigurationIn_t config ) const

Returns the state of a configuration.

StatePtr_t hpp::manipulation::graph::Graph::getState ( RoadmapNodePtr_t node ) const

Returns the state of a roadmap node.

const Histograms_t& hpp::manipulation::graph::Graph::histograms ( ) const

inline

Get the histograms.

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

protected

Initialization of the object.

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

virtual

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

void hpp::manipulation::graph::Graph::insertHistogram ( const graph::HistogramPtr_t & hist )

inline

Register an histogram representing a foliation.

bool hpp::manipulation::graph::Graph::isComplement	(	const ImplicitPtr_t &	constraint,
		const ImplicitPtr_t &	complement,
		ImplicitPtr_t &	combinationOfBoth
	)		const

Test whether two constraints are complement of one another.

Parameters

constraint,complement two constraints to test

Return values

combinationOfBoth constraint corresponding to combining constraint and complement if result is true, unchanged otherwise.

Returns: whether complement is the complement of constraint. Two constraints are complement of one another if and only if combined they constitute a complement relative transformation constraint.

See also: Graph::registerConstraints

Warning: argument order matters.

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.

std::size_t hpp::manipulation::graph::Graph::nbComponents ( ) const

inline

References init().

void hpp::manipulation::graph::Graph::nodeSelector ( StateSelectorPtr_t ns )

Set the state selector.

Warning: This should be done before adding nodes to the node selector otherwise the pointer to the parent graph will NOT be valid.

Deprecated:: use stateSelector instead

StateSelectorPtr_t hpp::manipulation::graph::Graph::nodeSelector ( ) const

inline

Get the state selector.

Deprecated:: use stateSelector instead

ConstraintSetPtr_t hpp::manipulation::graph::Graph::pathConstraint ( const EdgePtr_t & edge ) const

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

protectedvirtual

Print the object in a stream.

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

const ProblemPtr_t& hpp::manipulation::graph::Graph::problem ( ) const

Get the problem.

void hpp::manipulation::graph::Graph::problem ( const ProblemPtr_t & problem )

Set the problem.

void hpp::manipulation::graph::Graph::registerConstraints	(	const ImplicitPtr_t &	constraint,
		const ImplicitPtr_t &	complement,
		const ImplicitPtr_t &	both
	)

Register a triple of constraints to be inserted in nodes and edges.

Parameters

constraint	a constraint (grasp of placement)
complement	the complement constraint
both	combination of the constraint and its complement. Both constraints together corresponds to a full relative transformation constraint When inserting constraints in transitions of the graph, in many cases, a constraint is associated to a state and the complement constraint is associated to the transition itself. Registering those constraints priorly to graph construction makes possible to replace the constraint and its complement by the combination of both that is an explicit constraint.

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

Get the robot.

void hpp::manipulation::graph::Graph::stateSelector ( StateSelectorPtr_t ns )

Set the state selector.

Warning: This should be done before adding nodes to the node selector otherwise the pointer to the parent graph will NOT be valid.

StateSelectorPtr_t hpp::manipulation::graph::Graph::stateSelector ( ) const

inline

Get the state selector.

References problem().

Friends And Related Function Documentation

friend class GraphComponent

friend

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation