Added boolean argument in ChppPlanner::roadmapBuilderIthProblem to

specify whether roadmap developed by roadmap builder should be displayed
in the interface.
Communication with interface is handled using notifications.

ChangeLog

+2008/05/01
+	38. Added boolean argument in ChppPlanner::roadmapBuilderIthProblem to specify whether roadmap
+	    developed by roadmap builder should be displayed in the interface.
+	    Communication with interface is handled using notifications.
+	
 2008/04/17
 	37. If CXXFLAGS and CFLAGS are not defined at configuration, they are set to "-Wall".
 

include/hppCore/hppPlanner.h

@@ -87,8 +87,8 @@ class ChppPlanner {
 
   /**
      \brief Retrieve the problem in the problem vector at the given rank.
-     \param i_rank Rank of the hppProblem to retrieve
-     \return The i_rank-th problem
+     \param inRank Rank of the hppProblem to retrieve
+     \return The inRank-th problem
    */
   ChppProblem * hppProblem(unsigned int inRank) { 
     if(inRank<getNbHppProblems()) 
@@ -169,8 +169,12 @@ class ChppPlanner {
     \brief Set roadmap builder of i-th problem.
     \param rank Rank of problem in ChppPlanner::hppProblemVector.
     \param inRoadmapBuilder roadmap builder.
+    \param inDisplay whether the roadmap should be displayed in the interface.
+     \xrefitem <send-notif> "Notification" "Send Notification" Send ID_HPP_ADD_ROADMAP.
+     \xrefitem <send-notif> "Notification" "Send Notification" Send ID_HPP_REMOVE_ROADMAP.
   */
-  ktStatus roadmapBuilderIthProblem(unsigned int rank, CkwsRoadmapBuilderShPtr inRoadmapBuilder);
+  ktStatus roadmapBuilderIthProblem(unsigned int rank, CkwsRoadmapBuilderShPtr inRoadmapBuilder,
+				    bool inDisplay=false);
 
   /** 
     \brief Get roadmap builder of i-th problem.
@@ -290,7 +294,7 @@ class ChppPlanner {
   ktStatus addPath(unsigned int problemId, CkwsPathShPtr kwsPath);
 
   /** 
-   *@}* 
+   *@}
    */
 
   /**
@@ -309,28 +313,8 @@ class ChppPlanner {
   ChppBodyConstShPtr findBodyByName(std::string inBodyName) const;
 
   /** 
-   *@}* 
+   *@} 
    */
-  /**
-     \name Notification management
-     @{
-  */
-  /**
-     \brief Subscribe to an event by calling kwsNotificator->subscribe;
-  */
-  // CkitNotificator::eventRegisterPair subscribe(int inEventType, ktStatus(*inCallback)(void*,void*),void* inPt);
-
-  /**
-     \brief Unsubscribe to an event by calling kwsNotificator->unsubscribe;
-  */
-  // ktStatus unsubscribe(const CkitNotificator::eventRegisterPair& inPair);
-  /**
-   * \brief return a pointer to notificator in order for interface to get notification information.
-   */
-  // const ChppNotificator* notificator() const;
-  /**
-    @}
-  */
 
 protected:
 
@@ -359,11 +343,14 @@ protected:
   static const CkitNotification::TType ID_HPP_REMOVE_OBSTACLES;
   static const CkitNotification::TType ID_HPP_SET_OBSTACLE_LIST;
   static const CkitNotification::TType ID_HPP_ADD_OBSTACLE;
+  static const CkitNotification::TType ID_HPP_REMOVE_ROADMAPBUILDER;
+  static const CkitNotification::TType ID_HPP_ADD_ROADMAPBUILDER;
 
   // key to retrieve for notification.
   static const std::string ROBOT_KEY;
   static const std::string OBSTACLE_KEY;
   static const std::string CONFIG_KEY;
+  static const std::string ROADMAP_KEY;
    
 };
 

src/hppColPair.cpp

@@ -34,7 +34,9 @@ bool ChppColPair::addColPair(unsigned int j1, unsigned int j2)
       v.push_back(j2);
       sort(v.begin(), v.end());
     }
+    return true;
   }
+  return false;
 }
 
 bool ChppColPair::addColPairRange(unsigned int j1, unsigned int j2from, unsigned int j2to)
@@ -44,9 +46,10 @@ bool ChppColPair::addColPairRange(unsigned int j1, unsigned int j2from, unsigned
     return false;
   }
 
-  for(int j = j2from; j<= j2to; j++){
+  for(unsigned int j = j2from; j<= j2to; j++) {
     addColPair(j1, j);
   }
+  return true;
 }
 
 bool ChppColPair::existKey(unsigned int j1)
@@ -126,7 +129,7 @@ void ChppColPair::printPair()
 
     std::vector<unsigned int> v;
     v = getColPairList(current_key, flag);
-    for(int j=0; j<v.size(); j++)
+    for(unsigned int j=0; j<v.size(); j++)
       std::cout<<" "<<v[j];
     std::cout<<std::endl;
   }

src/hppPlanner.cpp

@@ -29,10 +29,13 @@ const CkitNotification::TType ChppPlanner::ID_HPP_SET_CURRENT_CONFIG(CkitNotific
 const CkitNotification::TType ChppPlanner::ID_HPP_REMOVE_OBSTACLES(CkitNotification::makeID());
 const CkitNotification::TType ChppPlanner::ID_HPP_SET_OBSTACLE_LIST(CkitNotification::makeID());
 const CkitNotification::TType ChppPlanner::ID_HPP_ADD_OBSTACLE(CkitNotification::makeID());
+const CkitNotification::TType ChppPlanner::ID_HPP_REMOVE_ROADMAPBUILDER(CkitNotification::makeID());
+const CkitNotification::TType ChppPlanner::ID_HPP_ADD_ROADMAPBUILDER(CkitNotification::makeID());
 
 const std::string ChppPlanner::ROBOT_KEY("robot");
 const std::string ChppPlanner::OBSTACLE_KEY("obstacle");
 const std::string ChppPlanner::CONFIG_KEY("config");
+const std::string ChppPlanner::ROADMAP_KEY("roadmap");
 
 /*****************************************
  PUBLIC METHODS
@@ -251,14 +254,36 @@ CkwsConfigShPtr ChppPlanner::goalConfIthProblem(unsigned int rank) const
 
 
 ktStatus ChppPlanner::roadmapBuilderIthProblem(unsigned int rank,
-					       CkwsRoadmapBuilderShPtr inRoadmapBuilder)
+					       CkwsRoadmapBuilderShPtr inRoadmapBuilder,
+					       bool inDisplay)
 {
   if (rank >= getNbHppProblems()) {
     return KD_ERROR;
   }
 
+  /*
+    If a roadmap was already stored, it will be removed. If this roadmap is displayed 
+    in the interface, we need first to remove the corresponding data-structure in the 
+    interface. This is done by sending a notification.
+  */
+  CkitNotificationShPtr notification  = 
+    CkitNotification::createWithPtr<ChppPlanner>(ChppPlanner::ID_HPP_REMOVE_ROADMAPBUILDER, this);
+  notification->unsignedIntValue(ChppPlanner::ROADMAP_KEY, rank);
+  attNotificator->notify(notification);
+
   ChppProblem& hppProblem =  hppProblemVector[rank];
   hppProblem.roadmapBuilder(inRoadmapBuilder);
+  
+  /* 
+     If the new roadmap is displayed in the interface, send a notification to 
+     trigger appropriate action.
+  */
+  if (inDisplay) {
+    notification = 
+      CkitNotification::createWithPtr<ChppPlanner>(ChppPlanner::ID_HPP_ADD_ROADMAPBUILDER, this);
+    notification->unsignedIntValue(ChppPlanner::ROADMAP_KEY, rank);
+    attNotificator->notify(notification);
+  }
 
   return KD_OK;
 }

src/hppProblem.cpp

@@ -285,7 +285,7 @@ unsigned int ChppProblem::getNbPaths() const
 void ChppProblem::roadmapBuilder ( CkwsRoadmapBuilderShPtr inRoadmapBuilder )
 {
 
-	attRoadmapBuilder = inRoadmapBuilder ;
+	attRoadmapBuilder = inRoadmapBuilder;
 }
 
 // ==========================================================================