graph-component.hh

Go to the documentation of this file.

// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// This file is part of hpp-manipulation.
// hpp-manipulation is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-manipulation is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.

#ifndef HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
# define HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH

# include <string>
# include <ostream>

# include "hpp/manipulation/config.hh"
# include "hpp/manipulation/deprecated.hh"
# include "hpp/manipulation/fwd.hh"
# include "hpp/manipulation/graph/fwd.hh"
# include "hpp/manipulation/graph/dot.hh"

namespace hpp {
  namespace manipulation {
    typedef constraints::ImplicitPtr_t ImplicitPtr_t;
    namespace graph {


      class HPP_MANIPULATION_DLLAPI GraphComponent
      {
        public:
          virtual ~GraphComponent () {};

          const std::string& name() const;

      const std::size_t& id () const
          {
            return id_;
          }

          //         for more information.
          virtual void addNumericalConstraint (
              const ImplicitPtr_t& numConstraint,
              const segments_t& passiveDofs = segments_t ());

          virtual void addNumericalCost (const ImplicitPtr_t& numCost);

      virtual void resetNumericalConstraints ();

          virtual void addLockedJointConstraint
        (const LockedJointPtr_t& constraint) HPP_MANIPULATION_DEPRECATED;

      virtual void resetLockedJoints () HPP_MANIPULATION_DEPRECATED;

          bool insertNumericalConstraints (ConfigProjectorPtr_t& proj) const;

          bool insertLockedJoints (ConfigProjectorPtr_t& cs) const
            HPP_MANIPULATION_DEPRECATED;

          const NumericalConstraints_t& numericalConstraints() const;

          const NumericalConstraints_t& numericalCosts() const;

          const IntervalsContainer_t& passiveDofs() const;

          const LockedJoints_t& lockedJoints () const
            HPP_MANIPULATION_DEPRECATED;

          void parentGraph(const GraphWkPtr_t& parent);

          GraphPtr_t parentGraph() const;

          virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;

          void setDirty();

        protected:
          void init (const GraphComponentWkPtr_t& weak);

          GraphComponent(const std::string& name) : isInit_(false)
                                                    , name_ (name)
                                                    , id_(-1)
          {}

          NumericalConstraints_t numericalConstraints_;
          IntervalsContainer_t passiveDofs_;
          NumericalConstraints_t numericalCosts_;
          const LockedJoints_t lockedJoints_;
          GraphWkPtr_t graph_;

          bool isInit_;

          void throwIfNotInitialized () const;

          virtual std::ostream& print (std::ostream& os) const;
          friend std::ostream& operator<< (std::ostream&, const GraphComponent&);

          virtual void populateTooltip (dot::Tooltip& tp) const;

          virtual void initialize () = 0;

        private:
          std::string name_;
          GraphComponentWkPtr_t wkPtr_;
      std::size_t id_;

          friend class Graph;
      };

      std::ostream& operator<< (std::ostream& os, const GraphComponent& graphComp);

    } // namespace graph
  } // namespace manipulation

} // namespace hpp

#endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH