hpp-manipulation
4.9.0
Classes for manipulation planning.
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#include <hpp/manipulation/leaf-connected-comp.hh>
Public Types | |
typedef LeafConnectedComp * | RawPtr_t |
typedef std::set< RawPtr_t > | LeafConnectedComps_t |
Public Member Functions | |
virtual void | merge (const LeafConnectedCompPtr_t &otherCC) |
bool | canReach (const LeafConnectedCompPtr_t &cc) |
bool | canReach (const LeafConnectedCompPtr_t &cc, LeafConnectedComp::LeafConnectedComps_t &cc2Tocc1) |
void | addNode (const RoadmapNodePtr_t &node) |
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 |
Set of configurations accessible to each others by a single transition, with the same right hand side.
This assumes the roadmap is not directed.
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inlineprotected |
void hpp::manipulation::LeafConnectedComp::addNode | ( | const RoadmapNodePtr_t & | node | ) |
Add roadmap node to connected component
roadmap | node to be added |
bool hpp::manipulation::LeafConnectedComp::canReach | ( | const LeafConnectedCompPtr_t & | cc | ) |
Whether this connected component can reach cc
cc | a connected component |
bool hpp::manipulation::LeafConnectedComp::canReach | ( | const LeafConnectedCompPtr_t & | cc, |
LeafConnectedComp::LeafConnectedComps_t & | cc2Tocc1 | ||
) |
Whether this connected component can reach cc
cc | a connected component |
cc2Tocc1 | list of connected components between cc2 and cc1 that should be merged. |
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return a shared pointer to new instance
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Merge two connected components
other | manipulation symbolic component to merge into this one. |
Reimplemented in hpp::manipulation::WeighedLeafConnectedComp.
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Reimplemented in hpp::manipulation::WeighedLeafConnectedComp.
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