Edge that find intersection of level set. More...

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

Inheritance diagram for hpp::manipulation::graph::LevelSetEdge:

Collaboration diagram for hpp::manipulation::graph::LevelSetEdge:

Public Member Functions
virtual	~LevelSetEdge ()

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

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

virtual ConstraintSetPtr_t	buildConfigConstraint ()

void	buildHistogram ()

LeafHistogramPtr_t	histogram () const

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

Foliation definition
void	insertParamConstraint (const ImplicitPtr_t &nm, const segments_t &passiveDofs=segments_t())
	Insert a numerical constraint that parametrizes the foliation. More...

void	insertParamConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypes_t ineq) HPP_MANIPULATION_DEPRECATED

void	insertParamConstraint (const LockedJointPtr_t lockedJoint)
	Insert a LockedJoint that parametrizes the foliation. More...

void	insertConditionConstraint (const ImplicitPtr_t &nm, const segments_t &passiveDofs=segments_t())
	Insert a numerical constraint that defines the foliation. More...

void	insertConditionConstraint (const LockedJointPtr_t lockedJoint)
	Insert a LockedJoint that defines the foliation. More...

Public Member Functions inherited from hpp::manipulation::graph::Edge
virtual	~Edge ()
	Destructor. 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...

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 LevelSetEdgePtr_t	create (const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Create a new LevelSetEdge. More...

Static Public Member Functions inherited from hpp::manipulation::graph::Edge
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 LevelSetEdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Initialization of the object. More...

	LevelSetEdge (const std::string &name)

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

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

virtual void	initialize ()

Protected Member Functions inherited from hpp::manipulation::graph::Edge
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	buildPathConstraint ()

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

Additional Inherited Members
Public Types inherited from hpp::manipulation::graph::Edge
typedef core::RelativeMotion	RelativeMotion

Protected Attributes inherited from hpp::manipulation::graph::Edge
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_

Detailed Description

Edge that find intersection of level set.

Constructor & Destructor Documentation

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

virtual

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

protected

Member Function Documentation

virtual bool hpp::manipulation::graph::LevelSetEdge::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 from hpp::manipulation::graph::Edge.

virtual bool hpp::manipulation::graph::LevelSetEdge::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 from hpp::manipulation::graph::Edge.

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

virtual

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

void hpp::manipulation::graph::LevelSetEdge::buildHistogram ( )

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

static

Create a new LevelSetEdge.

virtual std::ostream& hpp::manipulation::graph::LevelSetEdge::dotPrint	(	std::ostream &	os,
		dot::DrawingAttributes	da = `dot::DrawingAttributes()`
	)		const

virtual

Print the object in a stream.

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

LeafHistogramPtr_t hpp::manipulation::graph::LevelSetEdge::histogram ( ) const

void hpp::manipulation::graph::LevelSetEdge::init	(	const LevelSetEdgeWkPtr_t &	weak,
		const GraphWkPtr_t &	graph,
		const StateWkPtr_t &	from,
		const StateWkPtr_t &	to
	)

protected

Initialization of the object.

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

protectedvirtual

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

void hpp::manipulation::graph::LevelSetEdge::insertConditionConstraint	(	const ImplicitPtr_t &	nm,
		const segments_t &	passiveDofs = `segments_t()`
	)

Insert a numerical constraint that defines the foliation.

void hpp::manipulation::graph::LevelSetEdge::insertConditionConstraint ( const LockedJointPtr_t lockedJoint )

Insert a LockedJoint that defines the foliation.

void hpp::manipulation::graph::LevelSetEdge::insertParamConstraint	(	const ImplicitPtr_t &	nm,
		const segments_t &	passiveDofs = `segments_t()`
	)

Insert a numerical constraint that parametrizes the foliation.

void hpp::manipulation::graph::LevelSetEdge::insertParamConstraint	(	const DifferentiableFunctionPtr_t	function,
		const ComparisonTypes_t	ineq
	)

void hpp::manipulation::graph::LevelSetEdge::insertParamConstraint ( const LockedJointPtr_t lockedJoint )

Insert a LockedJoint that parametrizes the foliation.

virtual void hpp::manipulation::graph::LevelSetEdge::populateTooltip ( dot::Tooltip & tp ) const

protectedvirtual

Populate DrawingAttributes tooltip.

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

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

protectedvirtual

Print the object in a stream.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation