Define common methods of the graph components. More...

#include <hpp/manipulation/graph/graph-component.hh>

Inheritance diagram for hpp::manipulation::graph::GraphComponent:

[legend]

Public Member Functions
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...

virtual std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the component in DOT language. More...

void	setDirty ()
	Declare a component as dirty. More...

Protected Member Functions
void	init (const GraphComponentWkPtr_t &weak)
	Initialize the component. More...

	GraphComponent (const std::string &name)

void	throwIfNotInitialized () const

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

virtual void	populateTooltip (dot::Tooltip &tp) const
	Populate DrawingAttributes tooltip. More...

virtual void	initialize ()=0

Protected Attributes
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

std::ostream &	operator<< (std::ostream &, const GraphComponent &)

Detailed Description

Define common methods of the graph components.

Constructor & Destructor Documentation

◆ ~GraphComponent()

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

inlinevirtual

◆ GraphComponent()

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

inlineprotected

Member Function Documentation

◆ addLockedJointConstraint()

virtual void hpp::manipulation::graph::GraphComponent::addLockedJointConstraint ( const LockedJointPtr_t & constraint )

virtual

Add core::LockedJoint constraint to the component.

Deprecated:: LockedJoint are handled as classical explicit constraint

◆ addNumericalConstraint()

virtual void hpp::manipulation::graph::GraphComponent::addNumericalConstraint	(	const ImplicitPtr_t &	numConstraint,
		const segments_t &	passiveDofs = `segments_t()`
	)

virtual

Add Implicit to the component.

Parameters

passiveDofs see ConfigProjector::addNumericalConstraint

◆ addNumericalCost()

virtual void hpp::manipulation::graph::GraphComponent::addNumericalCost ( const ImplicitPtr_t & numCost )

virtual

Add a cost function Implicit to the component.

◆ dotPrint()

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

virtual

Print the component in DOT language.

Reimplemented in hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::WaypointEdge, hpp::manipulation::graph::Graph, hpp::manipulation::graph::Edge, and hpp::manipulation::graph::State.

◆ id()

const std::size_t& hpp::manipulation::graph::GraphComponent::id ( ) const

inline

Return the component id.

◆ init()

void hpp::manipulation::graph::GraphComponent::init ( const GraphComponentWkPtr_t & weak )

protected

Initialize the component.

◆ initialize()

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

protectedpure virtual

Implemented in hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::Graph, hpp::manipulation::graph::Edge, and hpp::manipulation::graph::State.

◆ insertLockedJoints()

bool hpp::manipulation::graph::GraphComponent::insertLockedJoints ( ConfigProjectorPtr_t & cs ) const

Insert the LockedJoint constraints in a ConstraintSet

Returns: true is at least one LockedJointPtr_t was inserted.

Deprecated:: LockedJoint are handled as classical explicit constraint

◆ insertNumericalConstraints()

bool hpp::manipulation::graph::GraphComponent::insertNumericalConstraints ( ConfigProjectorPtr_t & proj ) const

Insert the numerical constraints in a ConfigProjector

Returns: true is at least one ImplicitPtr_t was inserted.

◆ lockedJoints()

const LockedJoints_t& hpp::manipulation::graph::GraphComponent::lockedJoints ( ) const

Get a reference to the LockedJoints_t

Deprecated:: LockedJoint are handled as classical explicit constraint

◆ name()

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

Get the component name.

◆ numericalConstraints()

const NumericalConstraints_t& hpp::manipulation::graph::GraphComponent::numericalConstraints ( ) const

Get a reference to the NumericalConstraints_t.

◆ numericalCosts()

const NumericalConstraints_t& hpp::manipulation::graph::GraphComponent::numericalCosts ( ) const

Get a reference to the NumericalConstraints_t.

◆ parentGraph() [1/2]

void hpp::manipulation::graph::GraphComponent::parentGraph ( const GraphWkPtr_t & parent )

Set the parent graph.

◆ parentGraph() [2/2]

GraphPtr_t hpp::manipulation::graph::GraphComponent::parentGraph ( ) const

Set the parent graph.

◆ passiveDofs()

const IntervalsContainer_t& hpp::manipulation::graph::GraphComponent::passiveDofs ( ) const

Get a reference to the NumericalConstraints_t.

◆ populateTooltip()

virtual void hpp::manipulation::graph::GraphComponent::populateTooltip ( dot::Tooltip & tp ) const

protectedvirtual

Populate DrawingAttributes tooltip.

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

◆ print()

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

protectedvirtual

Print the object in a stream.

Reimplemented in hpp::manipulation::graph::LevelSetEdge, hpp::manipulation::graph::WaypointEdge, hpp::manipulation::graph::Graph, hpp::manipulation::graph::Edge, and hpp::manipulation::graph::State.

◆ resetLockedJoints()

virtual void hpp::manipulation::graph::GraphComponent::resetLockedJoints ( )

virtual

Reset the locked joint in the component.

Deprecated:: LockedJoint are handled as classical explicit constraint

◆ resetNumericalConstraints()

virtual void hpp::manipulation::graph::GraphComponent::resetNumericalConstraints ( )

virtual

Reset the numerical constraints stored in the component.

◆ setDirty()

void hpp::manipulation::graph::GraphComponent::setDirty ( )

Declare a component as dirty.

◆ throwIfNotInitialized()

void hpp::manipulation::graph::GraphComponent::throwIfNotInitialized ( ) const

protected

Friends And Related Function Documentation

◆ Graph

friend class Graph

friend

◆ operator<<

std::ostream& operator<<	(	std::ostream &	,
		const GraphComponent &
	)

friend

Member Data Documentation

◆ graph_

GraphWkPtr_t hpp::manipulation::graph::GraphComponent::graph_

protected

A weak pointer to the parent graph.

◆ isInit_

bool hpp::manipulation::graph::GraphComponent::isInit_

protected

◆ lockedJoints_

const LockedJoints_t hpp::manipulation::graph::GraphComponent::lockedJoints_

protected

List of LockedJoint constraints:

Todo:: to be removed

◆ numericalConstraints_

NumericalConstraints_t hpp::manipulation::graph::GraphComponent::numericalConstraints_

protected

Stores the numerical constraints.

◆ numericalCosts_

NumericalConstraints_t hpp::manipulation::graph::GraphComponent::numericalCosts_

protected

Stores the numerical costs.

◆ passiveDofs_

IntervalsContainer_t hpp::manipulation::graph::GraphComponent::passiveDofs_

protected

Stores the passive dofs for each numerical constraints.

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

include/hpp/manipulation/graph/graph-component.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~GraphComponent()

◆ GraphComponent()

Member Function Documentation

◆ addLockedJointConstraint()

◆ addNumericalConstraint()

◆ addNumericalCost()

◆ dotPrint()

◆ id()

◆ init()

◆ initialize()

◆ insertLockedJoints()

◆ insertNumericalConstraints()

◆ lockedJoints()

◆ name()

◆ numericalConstraints()

◆ numericalCosts()

◆ parentGraph() [1/2]

◆ parentGraph() [2/2]

◆ passiveDofs()

◆ populateTooltip()

◆ print()

◆ resetLockedJoints()

◆ resetNumericalConstraints()

◆ setDirty()

◆ throwIfNotInitialized()

Friends And Related Function Documentation

◆ Graph

◆ operator<<

Member Data Documentation

◆ graph_

◆ isInit_

◆ lockedJoints_

◆ numericalConstraints_

◆ numericalCosts_

◆ passiveDofs_