import"/home/florent/devel/release/src/hpp-manipulation-corba/idl/hpp/corbaserver/manipulation/graph.idl";

Public Member Functions
long	createGraph (in string graphName) raises (Error)

void	deleteGraph (in string graphName) raises (Error)

void	selectGraph (in string graphName) raises (Error)

void	createSubGraph (in string subgraphName) raises (Error)
	Create a subgraph of the constraint graph for one particular end-effector. More...

void	setTargetNodeList (in ID graphId, in IDseq nodes) raises (Error)

long	createNode (in long graphId, in string nodeName, in boolean waypoint, in long priority) raises (Error)

long	createEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in long isInNodeId) raises (Error)

void	setContainingNode (in ID edgeId, in ID nodeId) raises (Error)

string	getContainingNode (in ID edgeId) raises (Error)

long	createWaypointEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long number, in long weight, in long isInNode) raises (Error)

long	getWaypoint (in long edgeId, in long index, out ID nodeId) raises (Error)

void	setWaypoint (in ID waypointEdgeId, in long index, in ID edgeId, in ID nodeId) raises (Error)

void	getGraph (out GraphComp graph, out GraphElements elmts) raises (Error)

void	getEdgeStat (in ID edgeId, out Names_t reasons, out intSeq freqs) raises (Error)

long	getFrequencyOfNodeInRoadmap (in ID nodeId, out intSeq freqPerConnectedComponent) raises (Error)

boolean	getConfigProjectorStats (in ID elmt, out ConfigProjStat config, out ConfigProjStat path) raises (Error)

long	createLevelSetEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in ID isInNodeId) raises (Error)

void	addLevelSetFoliation (in long edgeId, in Names_t condNC, in Names_t paramNC) raises (Error)

void	resetConstraints (in long graphComponentId) raises (Error)

void	setNumericalConstraints (in long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)

void	addNumericalConstraints (in long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)

void	getNumericalConstraints (in long graphComponentId, out Names_t constraintNames) raises (Error)

void	setNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)

void	addNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)

void	removeCollisionPairFromEdge (in ID edgeId, in string joint1, in string joint2) raises (Error)

void	getNode (in floatSeq dofArray, out ID nodeId) raises (Error)

boolean	applyNodeConstraints (in ID idComp, in floatSeq input, out floatSeq output, out double residualError) raises (Error)

boolean	applyEdgeLeafConstraints (in ID idedge, in floatSeq qleaf, in floatSeq input, out floatSeq output, out double residualError) raises (Error)

boolean	generateTargetConfig (in ID IDedge, in floatSeq qleaf, in floatSeq input, out floatSeq output, out double residualError) raises (Error)

boolean	getConfigErrorForNode (in ID nodeId, in floatSeq config, out floatSeq errorVector) raises (Error)

boolean	getConfigErrorForEdge (in ID EdgeId, in floatSeq config, out floatSeq errorVector) raises (Error)

boolean	getConfigErrorForEdgeLeaf (in ID EdgeId, in floatSeq leafConfig, in floatSeq config, out floatSeq errorVector) raises (Error)

boolean	getConfigErrorForEdgeTarget (in ID EdgeId, in floatSeq leafConfig, in floatSeq config, out floatSeq errorVector) raises (Error)

void	displayNodeConstraints (in ID nodeId, out string constraints) raises (Error)

void	displayEdgeTargetConstraints (in ID edgeId, out string constraints) raises (Error)

void	displayEdgeConstraints (in ID edgeId, out string constraints) raises (Error)

void	getNodesConnectedByEdge (in ID edgeId, out string from, out string to) raises (Error)

void	display (in string filename) raises (Error)

void	getHistogramValue (in ID edgeId, out floatSeq freq, out floatSeqSeq values) raises (Error)

void	setShort (in ID edgeId, in boolean isShort) raises (Error)

boolean	isShort (in ID edgeId) raises (Error)

long	autoBuild (in string graphName, in Names_t grippers, in Names_t objects, in Namess_t handlesPerObject, in Namess_t contactsPerObject, in Names_t envNames, in Rules rulesList) raises (Error)

void	setWeight (in ID edgeID, in long weight) raises (Error)

long	getWeight (in ID edgeID) raises (Error)

string	getName (in ID elmtID) raises (Error)

void	initialize () raises (Error)
	This must be called when the graph has been built. More...

void	getRelativeMotionMatrix (in ID edgeID, out intSeqSeq matrix) raises (Error)

void	setSecurityMarginForEdge (in ID edgeID, in string joint1, in string joint2, in double margin) raises (Error)

Member Function Documentation

◆ addLevelSetFoliation()

void hpp::corbaserver::manipulation::Graph::addLevelSetFoliation	(	in long	edgeId,
		in Names_t	condNC,
		in Names_t	paramNC
	)
raises	(	Error
	)

Add the constraints to a LevelSetEdge that create the foliation.

Parameters

edgeId	if of a LevelSetEdge of the graph.
condNC	numerical constraints that define the foliated manifold
paramNC	numerical constraints that parameterize the foliation

◆ addNumericalConstraints()

void hpp::corbaserver::manipulation::Graph::addNumericalConstraints	(	in long	graphComponentId,
		in Names_t	constraintNames,
		in Names_t	passiveDofsNames
	)
raises	(	Error
	)

Add the numerical constraints to a component.

Parameters

graphComponentId	ID of the component.
constraintNames	is an array of names of constraints in the ProblemSolver map.
passiveDofsNames	array of names of vector of passive dofs in the ProblemSolver map.

Note: If passiveDofsNames is a shorter list than constraintNames, passiveDofsNames is extended with an empty string, which corresponds to an empty vector of passive dofs.

◆ addNumericalConstraintsForPath()

void hpp::corbaserver::manipulation::Graph::addNumericalConstraintsForPath	(	in long	nodeId,
		in Names_t	constraintNames,
		in Names_t	passiveDofsNames
	)
raises	(	Error
	)

Add the numerical constraints for path to a node.

Parameters

nodeId	ID of the node.
constraintNames	is an array of names of constraints in the ProblemSolver map.
passiveDofsNames	array of names of vector of passive dofs in the ProblemSolver map.

Note: If passiveDofsNames is a shorter list than constraintNames, passiveDofsNames is extended with an empty string, which corresponds to an empty vector of passive dofs.

◆ applyEdgeLeafConstraints()

boolean hpp::corbaserver::manipulation::Graph::applyEdgeLeafConstraints	(	in ID	idedge,
		in floatSeq	qleaf,
		in floatSeq	input,
		out floatSeq	output,
		out double	residualError
	)
raises	(	Error
	)

Apply constraints of an edge leaf to a configuration

Parameters

id	IDedge of the edge
qleaf	Configuration defining the leaf
input	input configuration to be projected

Return values

output	Output configuration,
residualError	norm of the residual error

◆ applyNodeConstraints()

boolean hpp::corbaserver::manipulation::Graph::applyNodeConstraints	(	in ID	idComp,
		in floatSeq	input,
		out floatSeq	output,
		out double	residualError
	)
raises	(	Error
	)

Apply constaints of a state to a configuration

Parameters

idComp	ID of a state (node of the constraint graph)
input	input configuration,

Return values

output	output configuration,
error	norm of the residual error.

◆ autoBuild()

long hpp::corbaserver::manipulation::Graph::autoBuild	(	in string	graphName,
		in Names_t	grippers,
		in Names_t	objects,
		in Namess_t	handlesPerObject,
		in Namess_t	contactsPerObject,
		in Names_t	envNames,
		in Rules	rulesList
	)
raises	(	Error
	)

Automatically build a constraint graph

Parameters

graphName	name of the graph,
grippers	list of gripper names,
objects	list of object names,
handlesPerObject	list of lists of handles, one list per object
contactsPerObject	list of lists of contact surfaces, one list per object
envNames	list of names of contact surfaces in the environment,
list	of rules.

Note: We consider a robot with two grippers, three objects with respectively two, one and one handles, and respectively one, two and one contact surface.
grippers = ['gripper_1', 'gripper_2']
objects = ['object_1', 'object_2', 'object_3']
handlesPerObject = [['object_1/handle_1','object_1/handle_2',],
['object_2/handle_1',], ['object_3/handle_1',]]
contactsPerObject = [['object_1/contact_1',],
['object_2/contact_1','object_2/contact_2',],
['object_3/contact_1',]]
from hpp.corbaserver.manipulation import Rule
rules = [Rule(['gripper_1'], ['object_1/handle_2'], True),
Rule(['gripper_1'], ['object_3/handle_1'], True),]

Note: In the rules, gripper and handle names are treated as regular expressions as defined in http://www.boost.org/doc/libs/1_58_0/libs/regex/doc/html/boost_regex/syntax/basic_syntax.html . Pay attention to the version of boost you use.; When creating placement constraints for object "foo", if a constraint with name "place_foo" already exists, the constraint will be used as placement constraint. In this case, if defined, constraint "preplace_foo" will be used as preplacement constraint, if not defined, no preplacement waypoint will be inserted in the graph. If constraint "place_foo" is not defined, it will be created with selected environment and object contact surface.

◆ createEdge()

long hpp::corbaserver::manipulation::Graph::createEdge	(	in long	nodeFromId,
		in long	nodeToId,
		in string	edgeName,
		in long	weight,
		in long	isInNodeId
	)
raises	(	Error
	)

Add an edge between two nodes of the graph.

Parameters

nodeFromId,nodeToId	the ID of the ends of the new edge.
edgeName	name of the new edge.
weight	weight of the edge.
isInNodeId	id of the node in which paths of the edge are included.

◆ createGraph()

long hpp::corbaserver::manipulation::Graph::createGraph	(	in string	graphName	)
raises	(	Error
	)

Initialize the graph of constraints and add it to the ProblemSolver map.

Note: The composite hpp::manipulation::robot must be completely defined first.

◆ createLevelSetEdge()

long hpp::corbaserver::manipulation::Graph::createLevelSetEdge	(	in long	nodeFromId,
		in long	nodeToId,
		in string	edgeName,
		in long	weight,
		in ID	isInNodeId
	)
raises	(	Error
	)

Add an edge of type LevelSetEdge between two nodes.

Parameters

nodeFromId,nodeToId	the ID of the ends of the new edge.
edgeName	name of the new edge.
weight	weight of the edge.
isInNodeId	id of the node in which paths of the edge are included.

◆ createNode()

long hpp::corbaserver::manipulation::Graph::createNode	(	in long	graphId,
		in string	nodeName,
		in boolean	waypoint,
		in long	priority
	)
raises	(	Error
	)

Add a node to the graph.

Parameters

graphId	is the ID of the graph to which the node should be added.
nodeName	the name of the new node.
waypoint	true when the node is a waypoint
priority	integer used to order the states. If two states have the same priority, then the order is the order of creation.

◆ createSubGraph()

void hpp::corbaserver::manipulation::Graph::createSubGraph	(	in string	subgraphName	)
raises	(	Error
	)

Create a subgraph of the constraint graph for one particular end-effector.

◆ createWaypointEdge()

long hpp::corbaserver::manipulation::Graph::createWaypointEdge	(	in long	nodeFromId,
		in long	nodeToId,
		in string	edgeName,
		in long	number,
		in long	weight,
		in long	isInNode
	)
raises	(	Error
	)

Add an edge with waypoint between two nodes of the graph.

Parameters

nodeFromId,nodeToId	the ID of the ends of the new edge.
edgeBaseName	basename of the new edge.
weight	weight of the edge.

◆ deleteGraph()

void hpp::corbaserver::manipulation::Graph::deleteGraph	(	in string	graphName	)
raises	(	Error
	)

◆ display()

void hpp::corbaserver::manipulation::Graph::display	(	in string	filename	)
raises	(	Error
	)

◆ displayEdgeConstraints()

void hpp::corbaserver::manipulation::Graph::displayEdgeConstraints	(	in ID	edgeId,
		out string	constraints
	)
raises	(	Error
	)

Print set of constraints relative to an edge in a string

Parameters

config	Configuration,
edgeId	id of the edge.

Returns: string displaying path constraints of the edge

◆ displayEdgeTargetConstraints()

void hpp::corbaserver::manipulation::Graph::displayEdgeTargetConstraints	(	in ID	edgeId,
		out string	constraints
	)
raises	(	Error
	)

Print set of constraints relative to an edge in a string

Parameters

config	Configuration,
edgeId	id of the edge.

Returns: string displaying constraints of the edge and of the target node

◆ displayNodeConstraints()

void hpp::corbaserver::manipulation::Graph::displayNodeConstraints	(	in ID	nodeId,
		out string	constraints
	)
raises	(	Error
	)

Print set of constraints relative to a node in a string

Parameters

config	Configuration,
nodeId	id of the node.

Returns: string displaying constraints

◆ generateTargetConfig()

boolean hpp::corbaserver::manipulation::Graph::generateTargetConfig	(	in ID	IDedge,
		in floatSeq	qleaf,
		in floatSeq	input,
		out floatSeq	output,
		out double	residualError
	)
raises	(	Error
	)

Generate configuration in target state of a transition reachable from a configuration

Parameters

IDedge	ID of a transition (edge of the constraint graph)
qleaf	configuration defining the leaf of the transition
input	input configuration to be projected

Return values

output	output configuration,
residualError	norm of the residual error.

◆ getConfigErrorForEdge()

boolean hpp::corbaserver::manipulation::Graph::getConfigErrorForEdge	(	in ID	EdgeId,
		in floatSeq	config,
		out floatSeq	errorVector
	)
raises	(	Error
	)

Get error of a config with respect to an edge constraint

Parameters

edgeId	id of the edge.
config	Configuration,

Return values

error the error of the edge constraint for the configuration

Returns: whether the configuration can be the start point of a path of the edge. Call methods core::ConfigProjector::rightHandSideFromConfig with the input configuration and then core::ConstraintSet::isSatisfied on the edge constraints.

◆ getConfigErrorForEdgeLeaf()

boolean hpp::corbaserver::manipulation::Graph::getConfigErrorForEdgeLeaf	(	in ID	EdgeId,
		in floatSeq	leafConfig,
		in floatSeq	config,
		out floatSeq	errorVector
	)
raises	(	Error
	)

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

Parameters

edgeId	id of the edge.
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.

◆ getConfigErrorForEdgeTarget()

boolean hpp::corbaserver::manipulation::Graph::getConfigErrorForEdgeTarget	(	in ID	EdgeId,
		in floatSeq	leafConfig,
		in floatSeq	config,
		out floatSeq	errorVector
	)
raises	(	Error
	)

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

Parameters

edgeId	id of the edge.
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.

◆ getConfigErrorForNode()

boolean hpp::corbaserver::manipulation::Graph::getConfigErrorForNode	(	in ID	nodeId,
		in floatSeq	config,
		out floatSeq	errorVector
	)
raises	(	Error
	)

Get error of a config with respect to a node constraint

Parameters

nodeId	id of the node.
config	Configuration,

Return values

error the error of the node constraint for the configuration

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

◆ getConfigProjectorStats()

boolean hpp::corbaserver::manipulation::Graph::getConfigProjectorStats	(	in ID	elmt,
		out ConfigProjStat	config,
		out ConfigProjStat	path
	)
raises	(	Error
	)

Get config projector statistics

Parameters

output config, path object containing the number of success and the number of times a config projector has been called.

Returns: true if the given has a config projector, false otherwise

◆ getContainingNode()

string hpp::corbaserver::manipulation::Graph::getContainingNode	(	in ID	edgeId	)
raises	(	Error
	)

Get in which node an edge is.

Parameters

edgeId the ID of the edge,

Returns: the name of the containing node.

◆ getEdgeStat()

void hpp::corbaserver::manipulation::Graph::getEdgeStat	(	in ID	edgeId,
		out Names_t	reasons,
		out intSeq	freqs
	)
raises	(	Error
	)

◆ getFrequencyOfNodeInRoadmap()

long hpp::corbaserver::manipulation::Graph::getFrequencyOfNodeInRoadmap	(	in ID	nodeId,
		out intSeq	freqPerConnectedComponent
	)
raises	(	Error
	)

Get the number of nodes in the roadmap being in the node nodeId of the graph

Returns: freqPerConnectedComponent is a vector of same number, by connected components.

Warning: The connected components of the roadmap are in no specific order.

◆ getGraph()

void hpp::corbaserver::manipulation::Graph::getGraph	(	out GraphComp	graph,
		out GraphElements	elmts
	)
raises	(	Error
	)

Get full graph

Returns: a structure with all the IDs and names

◆ getHistogramValue()

void hpp::corbaserver::manipulation::Graph::getHistogramValue	(	in ID	edgeId,
		out floatSeq	freq,
		out floatSeqSeq	values
	)
raises	(	Error
	)

◆ getName()

string hpp::corbaserver::manipulation::Graph::getName	(	in ID	elmtID	)
raises	(	Error
	)

Get name of graph component

Parameters

component index in the graph

See also: hpp::manipulation::graph::Graph::get

◆ getNode()

void hpp::corbaserver::manipulation::Graph::getNode	(	in floatSeq	dofArray,
		out ID	nodeId
	)
raises	(	Error
	)

Get the node corresponding to the state of the configuration.

Parameters

dofArray the configuration.

Returns: the ID corresponding to the node.

◆ getNodesConnectedByEdge()

void hpp::corbaserver::manipulation::Graph::getNodesConnectedByEdge	(	in ID	edgeId,
		out string	from,
		out string	to
	)
raises	(	Error
	)

Get nodes connected by an edge

Parameters

edgeId	id of the edge
from	name of the node the edge starts from,
to	name of the node the edge finishes in.

◆ getNumericalConstraints()

void hpp::corbaserver::manipulation::Graph::getNumericalConstraints	(	in long	graphComponentId,
		out Names_t	constraintNames
	)
raises	(	Error
	)

Get the list of numerical constraints applied to a component.

Parameters

graphComponentId Id of the component.

Returns: the list of constraints name.

◆ getRelativeMotionMatrix()

void hpp::corbaserver::manipulation::Graph::getRelativeMotionMatrix	(	in ID	edgeID,
		out intSeqSeq	matrix
	)
raises	(	Error
	)

Get the matrix of relative motions for an edge

Parameters

edgeId index of the edge,

Return values

matrix as defined in hpp::core::RelativeMotion::matrix_type.

◆ getWaypoint()

long hpp::corbaserver::manipulation::Graph::getWaypoint	(	in long	edgeId,
		in long	index,
		out ID	nodeId
	)
raises	(	Error
	)

Get waypoint IDs of an edge.

Parameters

edgeId	the ID of the edge.
index	index of the waypoint.

Returns: the ID of the edge and the node associated with the node.

◆ getWeight()

long hpp::corbaserver::manipulation::Graph::getWeight	(	in ID	edgeID	)
raises	(	Error
	)

Get weight of graph component

Parameters

component index in the graph, should be an edge

See also: hpp::manipulation::graph::State::getWeight

◆ initialize()

void hpp::corbaserver::manipulation::Graph::initialize	(		)
raises	(	Error
	)

This must be called when the graph has been built.

◆ isShort()

boolean hpp::corbaserver::manipulation::Graph::isShort	(	in ID	edgeId	)
raises	(	Error
	)

◆ removeCollisionPairFromEdge()

void hpp::corbaserver::manipulation::Graph::removeCollisionPairFromEdge	(	in ID	edgeId,
		in string	joint1,
		in string	joint2
	)
raises	(	Error
	)

Remove collision pairs from an edge

Parameters

edgeId	id of the edge,
joint1,joint2,names	of the joints defining the pair.

◆ resetConstraints()

void hpp::corbaserver::manipulation::Graph::resetConstraints	(	in long	graphComponentId	)
raises	(	Error
	)

Reset the numerical constraints and the locked joints of a component.

Parameters

graphComponentId ID of the component.

◆ selectGraph()

void hpp::corbaserver::manipulation::Graph::selectGraph	(	in string	graphName	)
raises	(	Error
	)

Select the graph of contraints from the ProblemSolver map.

Note: The composite hpp::manipulation::robot must be completely defined first.

◆ setContainingNode()

void hpp::corbaserver::manipulation::Graph::setContainingNode	(	in ID	edgeId,
		in ID	nodeId
	)
raises	(	Error
	)

Set in which node an edge is.

Parameters

edgeId	the ID of the edge,
nodeId	the ID of the node in which the edge is.

◆ setNumericalConstraints()

void hpp::corbaserver::manipulation::Graph::setNumericalConstraints	(	in long	graphComponentId,
		in Names_t	constraintNames,
		in Names_t	passiveDofsNames
	)
raises	(	Error
	)

Deprecated:: use addNumericalConstraints

◆ setNumericalConstraintsForPath()

void hpp::corbaserver::manipulation::Graph::setNumericalConstraintsForPath	(	in long	nodeId,
		in Names_t	constraintNames,
		in Names_t	passiveDofsNames
	)
raises	(	Error
	)

Deprecated:: use addNumericalConstraintsForPath

◆ setSecurityMarginForEdge()

void hpp::corbaserver::manipulation::Graph::setSecurityMarginForEdge	(	in ID	edgeID,
		in string	joint1,
		in string	joint2,
		in double	margin
	)
raises	(	Error
	)

Set collision security margin for a pair of joint along an edge

Parameters

edgeID	index of the edge,
joint1,joint2	names of joint1 and joint2
margin	security margin for collision tests between those joints along the edge.

◆ setShort()

void hpp::corbaserver::manipulation::Graph::setShort	(	in ID	edgeId,
		in boolean	isShort
	)
raises	(	Error
	)

◆ setTargetNodeList()

void hpp::corbaserver::manipulation::Graph::setTargetNodeList	(	in ID	graphId,
		in IDseq	nodes
	)
raises	(	Error
	)

◆ setWaypoint()

void hpp::corbaserver::manipulation::Graph::setWaypoint	(	in ID	waypointEdgeId,
		in long	index,
		in ID	edgeId,
		in ID	nodeId
	)
raises	(	Error
	)

◆ setWeight()

void hpp::corbaserver::manipulation::Graph::setWeight	(	in ID	edgeID,
		in long	weight
	)
raises	(	Error
	)

Set weight of graph component

Parameters

component index in the graph, should be an edge

See also: hpp::manipulation::graph::State::setWeight

The documentation for this interface was generated from the following file:

idl/hpp/corbaserver/manipulation/graph.idl

Public Member Functions

Member Function Documentation

◆ addLevelSetFoliation()

◆ addNumericalConstraints()

◆ addNumericalConstraintsForPath()

◆ applyEdgeLeafConstraints()

◆ applyNodeConstraints()

◆ autoBuild()

◆ createEdge()

◆ createGraph()

◆ createLevelSetEdge()

◆ createNode()

◆ createSubGraph()

◆ createWaypointEdge()

◆ deleteGraph()

◆ display()

◆ displayEdgeConstraints()

◆ displayEdgeTargetConstraints()

◆ displayNodeConstraints()

◆ generateTargetConfig()

◆ getConfigErrorForEdge()

◆ getConfigErrorForEdgeLeaf()

◆ getConfigErrorForEdgeTarget()

◆ getConfigErrorForNode()

◆ getConfigProjectorStats()

◆ getContainingNode()

◆ getEdgeStat()

◆ getFrequencyOfNodeInRoadmap()

◆ getGraph()

◆ getHistogramValue()

◆ getName()

◆ getNode()

◆ getNodesConnectedByEdge()

◆ getNumericalConstraints()

◆ getRelativeMotionMatrix()

◆ getWaypoint()

◆ getWeight()

◆ initialize()

◆ isShort()

◆ removeCollisionPairFromEdge()

◆ resetConstraints()

◆ selectGraph()

◆ setContainingNode()

◆ setNumericalConstraints()

◆ setNumericalConstraintsForPath()

◆ setSecurityMarginForEdge()

◆ setShort()

◆ setTargetNodeList()

◆ setWaypoint()

◆ setWeight()