hpp::manipulation::LeafConnectedComp Class Reference

Set of configurations accessible to each others by a single transition, with the same right hand side. More...

#include <hpp/manipulation/leaf-connected-comp.hh>

Inheritance diagram for hpp::manipulation::LeafConnectedComp:

Collaboration diagram for hpp::manipulation::LeafConnectedComp:

Public Types
typedef LeafConnectedComp *	RawPtr_t
typedef std::set< RawPtr_t >	LeafConnectedComps_t

Public Member Functions
virtual void	merge (const LeafConnectedCompPtr_t &otherCC)
	Merge two connected components. More...
bool	canReach (const LeafConnectedCompPtr_t &cc)
	Whether this connected component can reach cc. More...
bool	canReach (const LeafConnectedCompPtr_t &cc, LeafConnectedComp::LeafConnectedComps_t &cc2Tocc1)
	Whether this connected component can reach cc. More...
void	addNode (const RoadmapNodePtr_t &node)
	Add roadmap node to connected component. More...
virtual void	setFirstNode (const RoadmapNodePtr_t &node)
core::ConnectedComponentPtr_t	connectedComponent () const
const RoadmapNodes_t &	nodes () const
LeafConnectedCompPtr_t	self ()
const LeafConnectedComp::LeafConnectedComps_t &	from () const
const LeafConnectedComp::LeafConnectedComps_t &	to () const

Static Public Member Functions
static LeafConnectedCompPtr_t	create (const RoadmapPtr_t &roadmap)
	return a shared pointer to new instance More...

Protected Member Functions
	LeafConnectedComp (const RoadmapPtr_t &r)
void	init (const LeafConnectedCompWkPtr_t &shPtr)

Protected Attributes
graph::StatePtr_t	state_
RoadmapNodes_t	nodes_

Friends
class	Roadmap

Detailed Description

Set of configurations accessible to each others by a single transition, with the same right hand side.

This assumes the roadmap is not directed.

Member Typedef Documentation

typedef std::set<RawPtr_t> hpp::manipulation::LeafConnectedComp::LeafConnectedComps_t

typedef LeafConnectedComp* hpp::manipulation::LeafConnectedComp::RawPtr_t

Constructor & Destructor Documentation

hpp::manipulation::LeafConnectedComp::LeafConnectedComp ( const RoadmapPtr_t &  r )

inlineprotected

Member Function Documentation

void hpp::manipulation::LeafConnectedComp::addNode

(

const RoadmapNodePtr_t &

node

)

Add roadmap node to connected component.

Parameters

roadmap

node to be added

bool hpp::manipulation::LeafConnectedComp::canReach

(

const LeafConnectedCompPtr_t &

cc

)

Whether this connected component can reach cc.

Parameters

cc	a connected component

bool hpp::manipulation::LeafConnectedComp::canReach	(	const LeafConnectedCompPtr_t &	cc,
		LeafConnectedComp::LeafConnectedComps_t &	cc2Tocc1
	)

Whether this connected component can reach cc.

Parameters

cc	a connected component

Return values

cc2Tocc1

list of connected components between cc2 and cc1 that should be merged.

core::ConnectedComponentPtr_t hpp::manipulation::LeafConnectedComp::connectedComponent ( ) const

inline

static LeafConnectedCompPtr_t hpp::manipulation::LeafConnectedComp::create ( const RoadmapPtr_t &  roadmap )

static

return a shared pointer to new instance

const LeafConnectedComp::LeafConnectedComps_t& hpp::manipulation::LeafConnectedComp::from ( ) const

inline

void hpp::manipulation::LeafConnectedComp::init ( const LeafConnectedCompWkPtr_t &  shPtr )

inlineprotected

virtual void hpp::manipulation::LeafConnectedComp::merge ( const LeafConnectedCompPtr_t &  otherCC )

virtual

Merge two connected components.

Parameters

other

manipulation symbolic component to merge into this one.

Note

other will be empty after calling this method.

Reimplemented in hpp::manipulation::WeighedLeafConnectedComp.

const RoadmapNodes_t& hpp::manipulation::LeafConnectedComp::nodes ( ) const

inline

LeafConnectedCompPtr_t hpp::manipulation::LeafConnectedComp::self ( )

inline

virtual void hpp::manipulation::LeafConnectedComp::setFirstNode ( const RoadmapNodePtr_t &  node )

virtual

Reimplemented in hpp::manipulation::WeighedLeafConnectedComp.

const LeafConnectedComp::LeafConnectedComps_t& hpp::manipulation::LeafConnectedComp::to ( ) const

inline

Friends And Related Function Documentation

friend class Roadmap

friend

Member Data Documentation

RoadmapNodes_t hpp::manipulation::LeafConnectedComp::nodes_

protected

graph::StatePtr_t hpp::manipulation::LeafConnectedComp::state_

protected