This class is used to get the state of a configuration. More...

#include <hpp/manipulation/graph/state-selector.hh>

Inheritance diagram for hpp::manipulation::graph::StateSelector:

Collaboration diagram for hpp::manipulation::graph::StateSelector:

Public Member Functions
virtual	~StateSelector ()

StatePtr_t	createState (const std::string &name, bool waypoint=false, const int w=0)
	Create an empty state. More...

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

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

States_t	getStates () const
	Returns a list of all the states. More...

virtual EdgePtr_t	chooseEdge (RoadmapNodePtr_t from) const
	Select randomly an outgoing edge of the given state. More...

void	addNumericalConstraint (const constraints::ImplicitPtr_t &, const segments_t &=segments_t())
	Should never be called. More...

void	addLockedJointConstraint (const constraints::LockedJoint &)
	Should never be called. More...

virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the object in a stream. 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 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 StateSelectorPtr_t	create (const std::string &name)
	Create a new StateSelector. More...

Protected Types
typedef std::pair< int, StatePtr_t >	WeighedState_t
	List of the states of one end-effector, ordered by priority. More...

typedef std::list< WeighedState_t >	WeighedStates_t

Protected Member Functions
void	init (const StateSelectorPtr_t &weak)
	Initialization of the object. More...

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

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

virtual void	initialize ()

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
WeighedStates_t	orderedStates_

States_t	waypoints_

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

This class is used to get the state of a configuration.

States have to be ordered because a configuration can be in several states.

Member Typedef Documentation

typedef std::pair<int, StatePtr_t> hpp::manipulation::graph::StateSelector::WeighedState_t

protected

List of the states of one end-effector, ordered by priority.

typedef std::list<WeighedState_t> hpp::manipulation::graph::StateSelector::WeighedStates_t

protected

Constructor & Destructor Documentation

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

inlinevirtual

References create().

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

inlineprotected

Constructor.

References print().

Member Function Documentation

void hpp::manipulation::graph::StateSelector::addLockedJointConstraint ( const constraints::LockedJoint & )

inline

Should never be called.

References init().

void hpp::manipulation::graph::StateSelector::addNumericalConstraint	(	const constraints::ImplicitPtr_t &	,
		const segments_t &	= `segments_t ()`
	)

inlinevirtual

Should never be called.

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

virtual EdgePtr_t hpp::manipulation::graph::StateSelector::chooseEdge ( RoadmapNodePtr_t from ) const

virtual

Select randomly an outgoing edge of the given state.

Reimplemented in hpp::manipulation::graph::GuidedStateSelector.

static StateSelectorPtr_t hpp::manipulation::graph::StateSelector::create ( const std::string & name )

static

Create a new StateSelector.

StatePtr_t hpp::manipulation::graph::StateSelector::createState	(	const std::string &	name,
		bool	waypoint = `false`,
		const int	w = `0`
	)

Create an empty state.

virtual std::ostream& hpp::manipulation::graph::StateSelector::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::GuidedStateSelector.

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

Returns the state of a configuration.

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

Returns the state of a roadmap state.

States_t hpp::manipulation::graph::StateSelector::getStates ( ) const

Returns a list of all the states.

void hpp::manipulation::graph::StateSelector::init ( const StateSelectorPtr_t & weak )

protected

Initialization of the object.

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

inlineprotectedvirtual

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

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

protectedvirtual

Print the object in a stream.

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

Reimplemented in hpp::manipulation::graph::GuidedStateSelector.

Member Data Documentation

WeighedStates_t hpp::manipulation::graph::StateSelector::orderedStates_

protected

States_t hpp::manipulation::graph::StateSelector::waypoints_

protected

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation