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

Inheritance diagram for hpp::manipulation::graph::WaypointEdge:

Collaboration diagram for hpp::manipulation::graph::WaypointEdge:

Public Member Functions
virtual bool	canConnect (ConfigurationIn_t q1, ConfigurationIn_t q2) const

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

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

const EdgePtr_t &	waypoint (const std::size_t index) const
	Return the index-th edge. More...

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

void	nbWaypoints (const size_type number)
	Set the number of waypoints. More...

std::size_t	nbWaypoints () const

void	setWaypoint (const std::size_t index, const EdgePtr_t wEdge, const StatePtr_t wTo)
	Set waypoint index with wEdge and wTo. More...

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

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

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 WaypointEdgePtr_t	create (const std::string &name, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Create a new WaypointEdge. 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
	WaypointEdge (const std::string &name)

void	init (const WaypointEdgeWkPtr_t &weak, const GraphWkPtr_t &graph, const StateWkPtr_t &from, const StateWkPtr_t &to)
	Initialization of the object. More...

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

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	buildConfigConstraint ()

virtual ConstraintSetPtr_t	buildPathConstraint ()

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...

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 with waypoint.

Waypoints are handled recursively, i.e. class WaypointEdge contains only a State and an Edge, the second Edge being itself. In this package, the State in a WaypointEdge is semantically different from other State because it does not correspond to a state with different manipulation rules. It has the same rules as another State (either Edge::from() or Edge::to()).

Semantically, a waypoint State is fully part of the WaypointEdge. When a corresponding path reaches it, no planning is required to know what to do next. To the contrary, when a path reaches Edge::from() or Edge::to(), there may be several possibilities.

Note

Implementation details: let's say, between the two states $N_f$

and

, two waypoints are required: $N_f \xrightarrow{e_0} n_0 \xrightarrow{e_1} n_1 \xrightarrow{e_2} N_t$ . The WaypointEdge contains:

from: ,
to: ,
states:
transitions:
constraints: any calls to the constraints throw,

Constructor & Destructor Documentation

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

inlineprotected

References init(), and print().

Member Function Documentation

virtual bool hpp::manipulation::graph::WaypointEdge::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::WaypointEdge::build	(	core::PathPtr_t &	path,
		ConfigurationIn_t	q1,
		ConfigurationIn_t	q2
	)		const

virtual

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

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

virtual

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

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

static

Create a new WaypointEdge.

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

virtual

Print the object in a stream.

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

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

protected

Initialization of the object.

void hpp::manipulation::graph::WaypointEdge::nbWaypoints ( const size_type number )

Set the number of waypoints.

std::size_t hpp::manipulation::graph::WaypointEdge::nbWaypoints ( ) const

inline

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

protectedvirtual

Print the object in a stream.

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

void hpp::manipulation::graph::WaypointEdge::setWaypoint	(	const std::size_t	index,
		const EdgePtr_t	wEdge,
		const StatePtr_t	wTo
	)

Set waypoint index with wEdge and wTo.

Parameters

wTo	is the destination state of wEdge

const EdgePtr_t& hpp::manipulation::graph::WaypointEdge::waypoint ( const std::size_t index ) const

Return the index-th edge.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation