#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 qStart, ConfigurationOut_t q) const HPP_MANIPULATION_DEPRECATED

virtual bool	generateTargetConfig (ConfigurationIn_t qStart, ConfigurationOut_t q) const

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)

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

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

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

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 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 () 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 ()

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...

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_

Detailed Description

Edge with intermediate waypoint states.

This class implements a transition from one state to another state with intermediate states in-between. This feature is particularly interesting when manipulating objects. Between a state where a gripper does not grasp an object and a state where the same gripper grasps the object, it is useful to add an intermediate state where the gripper is close to the object.

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::stateFrom() or Edge::stateTo()).

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::stateFrom() or Edge::stateTo(), 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

◆ WaypointEdge()

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

inlineprotected

Member Function Documentation

◆ applyConstraints()

virtual bool hpp::manipulation::graph::WaypointEdge::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 Used generateTargetConfig instead.

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

◆ build()

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.

◆ canConnect()

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

virtual

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

◆ create()

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.

◆ dotPrint()

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.

◆ generateTargetConfig()

virtual bool hpp::manipulation::graph::WaypointEdge::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 from hpp::manipulation::graph::Edge.

◆ init()

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.

◆ nbWaypoints() [1/2]

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

Set the number of waypoints.

◆ nbWaypoints() [2/2]

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

inline

◆ print()

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.

◆ setWaypoint()

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

◆ waypoint()

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

Return the index-th edge.

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

include/hpp/manipulation/graph/edge.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WaypointEdge()

Member Function Documentation

◆ applyConstraints()

◆ build()

◆ canConnect()

◆ create()

◆ dotPrint()

◆ generateTargetConfig()

◆ init()

◆ nbWaypoints() [1/2]

◆ nbWaypoints() [2/2]

◆ print()

◆ setWaypoint()

◆ waypoint()