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

Inheritance diagram for hpp::manipulation::graph::Edge:

Collaboration diagram for hpp::manipulation::graph::Edge:

Public Types
typedef core::RelativeMotion	RelativeMotion

Public Member Functions
virtual	~Edge ()
	Destructor. More...

virtual bool	applyConstraints (core::NodePtr_t nStart, ConfigurationOut_t q) const HPP_MANIPULATION_DEPRECATED

virtual bool	applyConstraints (ConfigurationIn_t qStart, ConfigurationOut_t q) const HPP_MANIPULATION_DEPRECATED

virtual bool	generateTargetConfig (core::NodePtr_t nStart, ConfigurationOut_t q) const

virtual bool	generateTargetConfig (ConfigurationIn_t qStart, ConfigurationOut_t q) const

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	stateTo () const
	Get the destination. More...

StatePtr_t	stateFrom () 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...

void	securityMarginForPair (const size_type &row, const size_type &col, const value_type &margin)

const matrix_t &	securityMargins () const
	Accessor to the security margin. More...

virtual bool	direction (const core::PathPtr_t &path) const

virtual bool	intersectionConstraint (const EdgePtr_t &other, ConfigProjectorPtr_t projector) const

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

ConstraintSetPtr_t	configConstraint () const HPP_MANIPULATION_DEPRECATED

ConstraintSetPtr_t	targetConstraint () const
	Constraint of the destination state and of the path. More...

void	setShort (bool isShort)

bool	isShort () const

ConstraintSetPtr_t	pathConstraint () const

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())

virtual void	addNumericalCost (const ImplicitPtr_t &numCost)
	Add a cost function Implicit to the component. More...

virtual void	resetNumericalConstraints ()
	Reset the numerical constraints stored in the component. More...

virtual void	addLockedJointConstraint (const LockedJointPtr_t &constraint) HPP_MANIPULATION_DEPRECATED

virtual void	resetLockedJoints () HPP_MANIPULATION_DEPRECATED
	Reset the locked joint in the component. More...

bool	insertNumericalConstraints (ConfigProjectorPtr_t &proj) const

bool	insertLockedJoints (ConfigProjectorPtr_t &cs) const HPP_MANIPULATION_DEPRECATED

const NumericalConstraints_t &	numericalConstraints () const
	Get a reference to the NumericalConstraints_t. More...

const NumericalConstraints_t &	numericalCosts () 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 HPP_MANIPULATION_DEPRECATED

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 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 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 () HPP_MANIPULATION_DEPRECATED

virtual ConstraintSetPtr_t	buildTargetConstraint ()
	Build path and target state constraint set. More...

virtual ConstraintSetPtr_t	buildPathConstraint ()
	Build path constraints. More...

virtual void	initialize ()

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

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
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...

NumericalConstraints_t	numericalCosts_
	Stores the numerical costs. More...

const LockedJoints_t	lockedJoints_
	List of LockedJoint constraints: More...

GraphWkPtr_t	graph_
	A weak pointer to the parent graph. More...

bool	isInit_

Friends
class	Graph

Detailed Description

Transition between two states of a constraint graph

An edge stores two types of constraints.

Path constraints should be safisfied by paths belonging to the edge. Along any path, the right hand side of the constraint is constant, but can differ between paths. For instance if an edge represents a transit path of a robot that can grasp an object, the right hand side of the constraint represents the position of the object. Along any transit path, the object does not move, but for different paths the object can be at different positions.
See also
method pathConstraint.
Configuration constraints are constraints that configurations in the destination state should satisfy and the constraints that paths should satisfy. For instance, if the edge links a state where the robot does not hold the object to a state where the robot holds the object, the configuration constraints represent a fixed relative position of the object with respect to the gripper and a stable position of the object. Configuration constraints are necessary to generate a configuration in the destination state of the edge that is reachable from a given configuration in the start state by an admissible path.

Member Typedef Documentation

◆ RelativeMotion

typedef core::RelativeMotion hpp::manipulation::graph::Edge::RelativeMotion

Constructor & Destructor Documentation

◆ ~Edge()

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

virtual

Destructor.

◆ Edge()

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

protected

Constructor.

Member Function Documentation

◆ applyConstraints() [1/2]

virtual bool hpp::manipulation::graph::Edge::applyConstraints	(	core::NodePtr_t	nStart,
		ConfigurationOut_t	q
	)		const

virtual

Generate a reachable configuration in the target state

Parameters

	nStart	node containing the configuration defining the right hand side of the edge constraint,
[in,out]	q	input configuration used to initialize the numerical solver and output configuration lying in the target state and reachable along the edge from nnear

Deprecated:: Use generateTargetConfig instead.

Reimplemented in hpp::manipulation::graph::LevelSetEdge.

◆ applyConstraints() [2/2]

virtual bool hpp::manipulation::graph::Edge::applyConstraints	(	ConfigurationIn_t	qStart,
		ConfigurationOut_t	q
	)		const

virtual

Generate a reachable configuration in the target state

Parameters

	qStart	node containing the configuration defining the right hand side of the edge path constraint,
[in,out]	q	input configuration used to initialize the numerical solver and output configuration lying in the target state and reachable along the edge from nnear.

Deprecated:: Use generateTargetConfig instead.

Reimplemented in hpp::manipulation::graph::LevelSetEdge, and hpp::manipulation::graph::WaypointEdge.

◆ build()

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

virtual

Reimplemented in hpp::manipulation::graph::WaypointEdge.

◆ buildConfigConstraint()

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

protectedvirtual

Reimplemented in hpp::manipulation::graph::LevelSetEdge.

◆ buildPathConstraint()

virtual ConstraintSetPtr_t hpp::manipulation::graph::Edge::buildPathConstraint ( )

protectedvirtual

Build path constraints.

◆ buildTargetConstraint()

virtual ConstraintSetPtr_t hpp::manipulation::graph::Edge::buildTargetConstraint ( )

protectedvirtual

Build path and target state constraint set.

Reimplemented in hpp::manipulation::graph::LevelSetEdge.

◆ canConnect()

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

virtual

Reimplemented in hpp::manipulation::graph::WaypointEdge.

◆ configConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::Edge::configConstraint ( ) const

Constraint of the destination state and of the path

Deprecated:: Use targetConstraint instead

◆ create()

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

static

Create a new empty Edge.

◆ direction()

virtual bool hpp::manipulation::graph::Edge::direction ( const core::PathPtr_t & path ) const

virtual

Get direction of the path compare to the edge

Returns: true is reverse

◆ dotPrint()

virtual std::ostream& hpp::manipulation::graph::Edge::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::LevelSetEdge, and hpp::manipulation::graph::WaypointEdge.

◆ generateTargetConfig() [1/2]

virtual bool hpp::manipulation::graph::Edge::generateTargetConfig	(	core::NodePtr_t	nStart,
		ConfigurationOut_t	q
	)		const

virtual

Generate a reachable configuration in the target state

Parameters

	nStart	node containing the configuration defining the right hand side of the edge path constraint,
[in,out]	q	input configuration used to initialize the numerical solver and output configuration lying in the target state and reachable along the edge from nStart.

Reimplemented in hpp::manipulation::graph::LevelSetEdge.

◆ generateTargetConfig() [2/2]

virtual bool hpp::manipulation::graph::Edge::generateTargetConfig	(	ConfigurationIn_t	qStart,
		ConfigurationOut_t	q
	)		const

virtual

Generate a reachable configuration in the target state

Parameters

	qStart	node containing the configuration defining the right hand side of the edge path constraint,
[in,out]	q	input configuration used to initialize the numerical solver and output configuration lying in the target state and reachable along the edge from nnear.

Reimplemented in hpp::manipulation::graph::LevelSetEdge, and hpp::manipulation::graph::WaypointEdge.

◆ init()

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

protected

Initialization of the object.

◆ initialize()

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

protectedvirtual

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

Reimplemented in hpp::manipulation::graph::LevelSetEdge.

◆ intersectionConstraint()

virtual bool hpp::manipulation::graph::Edge::intersectionConstraint	(	const EdgePtr_t &	other,
		ConfigProjectorPtr_t	projector
	)		const

virtual

Populate a ConfigProjector with constraints required to generate a path at the intersection of two edges.

◆ isShort()

bool hpp::manipulation::graph::Edge::isShort ( ) const

inline

◆ pathConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::Edge::pathConstraint ( ) const

Constraint to project a path.

Returns: The initialized constraint.

◆ pathValidation()

const core::PathValidationPtr_t& hpp::manipulation::graph::Edge::pathValidation ( ) const

inline

Get path validation associated to the edge.

◆ print()

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

protectedvirtual

Print the object in a stream.

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

Reimplemented in hpp::manipulation::graph::LevelSetEdge, and hpp::manipulation::graph::WaypointEdge.

◆ relativeMotion() [1/2]

const RelativeMotion::matrix_type& hpp::manipulation::graph::Edge::relativeMotion ( ) const

inline

◆ relativeMotion() [2/2]

void hpp::manipulation::graph::Edge::relativeMotion ( const RelativeMotion::matrix_type & m )

Update the relative motion matrix.

◆ securityMarginForPair()

void hpp::manipulation::graph::Edge::securityMarginForPair	(	const size_type &	row,
		const size_type &	col,
		const value_type &	margin
	)

Set Security margin for a pair of joints

Parameters

row	index of joint1 + 1 in robot,
col	index of joint2 + 1 in robot,
margin	security margin for collision checking between those joints.

Note: set value to matrix [row, col] and matrix [col, row].

◆ securityMargins()

const matrix_t& hpp::manipulation::graph::Edge::securityMargins ( ) const

inline

Accessor to the security margin.

◆ setShort()

void hpp::manipulation::graph::Edge::setShort ( bool isShort )

inline

◆ state() [1/2]

StatePtr_t hpp::manipulation::graph::Edge::state ( ) const

inline

Get the state in which path is.

◆ state() [2/2]

void hpp::manipulation::graph::Edge::state ( StatePtr_t state )

inline

◆ stateFrom()

StatePtr_t hpp::manipulation::graph::Edge::stateFrom ( ) const

Get the origin.

◆ stateTo()

StatePtr_t hpp::manipulation::graph::Edge::stateTo ( ) const

Get the destination.

◆ steeringMethod()

const core::SteeringMethodPtr_t& hpp::manipulation::graph::Edge::steeringMethod ( ) const

inline

Get steering method associated to the edge.

◆ targetConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::Edge::targetConstraint ( ) const

Constraint of the destination state and of the path.

Friends And Related Function Documentation

◆ Graph

friend class Graph

friend

Member Data Documentation

◆ isShort_

bool hpp::manipulation::graph::Edge::isShort_

protected

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

include/hpp/manipulation/graph/edge.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ RelativeMotion

Constructor & Destructor Documentation

◆ ~Edge()

◆ Edge()

Member Function Documentation

◆ applyConstraints() [1/2]

◆ applyConstraints() [2/2]

◆ build()

◆ buildConfigConstraint()

◆ buildPathConstraint()

◆ buildTargetConstraint()

◆ canConnect()

◆ configConstraint()

◆ create()

◆ direction()

◆ dotPrint()

◆ generateTargetConfig() [1/2]

◆ generateTargetConfig() [2/2]

◆ init()

◆ initialize()

◆ intersectionConstraint()

◆ isShort()

◆ pathConstraint()

◆ pathValidation()

◆ print()

◆ relativeMotion() [1/2]

◆ relativeMotion() [2/2]

◆ securityMarginForPair()

◆ securityMargins()

◆ setShort()

◆ state() [1/2]

◆ state() [2/2]

◆ stateFrom()

◆ stateTo()

◆ steeringMethod()

◆ targetConstraint()

Friends And Related Function Documentation

◆ Graph

Member Data Documentation

◆ isShort_