diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9333afddeff9f41ed237b485d3d90bf9c0cfc171..2872f7af6c35b20a3dcc5f3626d9bcca592a978b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,6 +52,7 @@ SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/graph/edge.hh
include/hpp/manipulation/graph/node-selector.hh
include/hpp/manipulation/graph/graph.hh
+ include/hpp/manipulation/graph/graph-component.hh
include/hpp/manipulation/graph/fwd.hh
)
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
new file mode 100644
index 0000000000000000000000000000000000000000..00cf37fdab06d1940f8ee81249121cdd077ea1d2
--- /dev/null
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -0,0 +1,102 @@
+// 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/util/exception.hh>
+
+# include "hpp/manipulation/config.hh"
+# include "hpp/manipulation/fwd.hh"
+# include "hpp/manipulation/graph/fwd.hh"
+
+namespace hpp {
+ namespace manipulation {
+ namespace graph {
+ HPP_MAKE_EXCEPTION ( HPP_MANIPULATION_DLLAPI, Bad_function_call );
+
+ /// Define common methods of the graph components.
+ class HPP_MANIPULATION_DLLAPI GraphComponent
+ {
+ public:
+ /// Get the component name.
+ const std::string& name() const;
+
+ /// Set the component name.
+ void name(const std::string& name);
+
+ /// Get the component by its ID. The validity of the GraphComponent
+ /// is not checked.
+ static GraphComponentWkPtr_t get(int id);
+
+ /// Return the component id.
+ int id () const;
+
+ /// Print the object in a stream.
+ virtual std::ostream& print (std::ostream& os) const;
+
+ /// Add core::DifferentiableFunction to the component.
+ virtual void addNumericalConstraint (const DifferentiableFunctionPtr_t& function);
+
+ /// Add core::LockedDof constraint to the component.
+ virtual void addLockedDofConstraint (const LockedDofPtr_t& constraint);
+
+ /// Get a reference to the DifferentiableFunctions_t
+ const DifferentiableFunctions_t& numericalConstraints() const;
+
+ /// Get a reference to the LockedDofs_t
+ const LockedDofs_t& lockedDofConstraints () const;
+
+ /// Set the parent graph.
+ void parentGraph(const GraphWkPtr_t& parent);
+
+ protected:
+ /// Initialize the component
+ void init (const GraphComponentWkPtr_t& weak);
+
+ GraphComponent() : id_(-1)
+ {}
+
+ /// Stores the numerical constraints.
+ DifferentiableFunctions_t numericalConstraints_;
+ /// List of LockedDof constraints
+ LockedDofs_t lockedDofConstraints_;
+ /// A weak pointer to the parent graph.
+ GraphWkPtr_t graph_;
+
+ private:
+ /// Keep track of the created components in order to retrieve them
+ /// easily.
+ static std::vector < GraphComponentWkPtr_t > components;
+
+ /// Name of the component.
+ std::string name_;
+ /// Weak pointer to itself.
+ GraphComponentWkPtr_t wkPtr_;
+ /// ID of the component (index in components vector).
+ int id_;
+ };
+
+ std::ostream& operator<< (std::ostream& os,
+ const hpp::manipulation::graph::GraphComponent& graphComp);
+ } // namespace graph
+ } // namespace manipulation
+
+} // namespace hpp
+
+#endif // HPP_MANIPULATION_GRAPH_GRAPHCOMPONENT_HH
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index c934afde50a02f6688a8334eeb8a95a4199f9041..1ad69b756b1fa53512b52e86cbc1759117fc34ad 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -17,125 +17,14 @@
#ifndef HPP_MANIPULATION_GRAPH_GRAPH_HH
# define HPP_MANIPULATION_GRAPH_GRAPH_HH
-# include <string>
-# include <ostream>
-# include <hpp/util/assertion.hh>
-# include <hpp/util/exception.hh>
-
-# include "hpp/manipulation/robot.hh"
-
# include "hpp/manipulation/config.hh"
# include "hpp/manipulation/fwd.hh"
# include "hpp/manipulation/graph/fwd.hh"
+# include "hpp/manipulation/graph/graph-component.hh"
namespace hpp {
namespace manipulation {
namespace graph {
- HPP_MAKE_EXCEPTION ( HPP_MANIPULATION_DLLAPI, Bad_function_call );
-
- /// Define common methods of the graph components.
- class HPP_MANIPULATION_DLLAPI GraphComponent
- {
- public:
- /// Get the component name.
- const std::string& name() const
- {
- return name_;
- }
-
- /// Set the component name.
- void name(const std::string& name)
- {
- name_ = name;
- }
-
- /// Get the component by its ID. The validity of the GraphComponent
- /// is not checked.
- static GraphComponentWkPtr_t get(int id)
- throw (std::out_of_range)
- {
-# ifdef HPP_DEBUG
- if (id < 0 || id >= (int)components.size())
- throw std::out_of_range ("ID out of range.");
-# endif // HPP_DEBUG
- return components[id];
- };
-
- /// Return the component id.
- int id () const
- {
- return id_;
- }
-
- /// Print the object in a stream.
- virtual std::ostream& print (std::ostream& os) const
- {
- os << id () << " : " << name ();
- return os;
- }
-
- /// Add core::DifferentiableFunction to the component.
- virtual void addNumericalConstraint (const DifferentiableFunctionPtr_t& function)
- {
- numericalConstraints_.push_back(function);
- }
-
- /// Add core::LockedDof constraint to the component.
- virtual void addLockedDofConstraint (const LockedDofPtr_t& constraint)
- {
- lockedDofConstraints_.push_back (constraint);
- }
-
- /// Get a reference to the DifferentiableFunctions_t
- const DifferentiableFunctions_t& numericalConstraints() const
- {
- return numericalConstraints_;
- }
-
- /// Get a reference to the LockedDofs_t
- const LockedDofs_t& lockedDofConstraints () const
- {
- return lockedDofConstraints_;
- }
-
- /// Set the parent graph.
- void parentGraph(const GraphWkPtr_t& parent)
- {
- graph_ = parent;
- }
-
- protected:
- /// Initialize the component
- void init (const GraphComponentWkPtr_t& weak)
- {
- wkPtr_ = weak;
- id_ = components.size();
- components.push_back (wkPtr_);
- }
-
- GraphComponent() : id_(-1)
- {}
-
- /// Stores the numerical constraints.
- DifferentiableFunctions_t numericalConstraints_;
- /// List of LockedDof constraints
- LockedDofs_t lockedDofConstraints_;
- /// A weak pointer to the parent graph.
- GraphWkPtr_t graph_;
-
- private:
- /// Keep track of the created components in order to retrieve them
- /// easily.
- static std::vector < GraphComponentWkPtr_t > components;
-
- /// Name of the component.
- std::string name_;
- /// Weak pointer to itself.
- GraphComponentWkPtr_t wkPtr_;
- /// ID of the component (index in components vector).
- int id_;
- };
-
/// Description of the constraint graph
/// This class contains a graph representing a robot with several
/// end-effectors.
@@ -240,9 +129,6 @@ namespace hpp {
} // namespace graph
} // namespace manipulation
- HPP_MANIPULATION_DLLAPI std::ostream& operator<< (std::ostream& os,
- const hpp::manipulation::graph::GraphComponent& graphComp);
-
} // namespace hpp
#endif // HPP_MANIPULATION_GRAPH_GRAPH_HH
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index a340fcdd06d6072cd4484db7578b85f527781dcd..32784f41da02d9666e68b480e2ca69b8ae01658e 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -22,9 +22,10 @@
#include <hpp/core/constraint-set.hh>
#include <hpp/core/config-projector.hh>
+#include "hpp/manipulation/config.hh"
#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/fwd.hh"
-#include "hpp/manipulation/graph/edge.hh"
+#include "hpp/manipulation/graph/graph-component.hh"
namespace hpp {
namespace manipulation {
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 51e4b199ff10777a192ce2504bf365d5d6eeb285..88497963da0f9dd7ddbb8dd091c989294c9d55c7 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -29,6 +29,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
graph/node.cc
graph/edge.cc
graph/graph.cc
+ graph/graph-component.cc
graph/node-selector.cc
)
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
new file mode 100644
index 0000000000000000000000000000000000000000..4094fdf981a6b2a727e4c0f9840a95469147274c
--- /dev/null
+++ b/src/graph/graph-component.cc
@@ -0,0 +1,93 @@
+// 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/>.
+
+#include "hpp/manipulation/graph/graph-component.hh"
+
+namespace hpp {
+ namespace manipulation {
+ namespace graph {
+ std::vector < GraphComponentWkPtr_t > GraphComponent::components = std::vector < GraphComponentWkPtr_t >();
+
+ const std::string& GraphComponent::name() const
+ {
+ return name_;
+ }
+
+ void GraphComponent::name(const std::string& name)
+ {
+ name_ = name;
+ }
+
+ GraphComponentWkPtr_t GraphComponent::get(int id)
+ {
+# ifdef HPP_DEBUG
+ if (id < 0 || id >= (int)components.size())
+ throw std::out_of_range ("ID out of range.");
+# endif // HPP_DEBUG
+ return components[id];
+ }
+
+ int GraphComponent::id () const
+ {
+ return id_;
+ }
+
+ std::ostream& GraphComponent::print (std::ostream& os) const
+ {
+ os << id () << " : " << name ();
+ return os;
+ }
+
+ void GraphComponent::addNumericalConstraint (const DifferentiableFunctionPtr_t& function)
+ {
+ numericalConstraints_.push_back(function);
+ }
+
+ void GraphComponent::addLockedDofConstraint (const LockedDofPtr_t& constraint)
+ {
+ lockedDofConstraints_.push_back (constraint);
+ }
+
+ const DifferentiableFunctions_t& GraphComponent::numericalConstraints() const
+ {
+ return numericalConstraints_;
+ }
+
+ const LockedDofs_t& GraphComponent::lockedDofConstraints () const
+ {
+ return lockedDofConstraints_;
+ }
+
+ void GraphComponent::parentGraph(const GraphWkPtr_t& parent)
+ {
+ graph_ = parent;
+ }
+
+ void GraphComponent::init (const GraphComponentWkPtr_t& weak)
+ {
+ wkPtr_ = weak;
+ id_ = components.size();
+ components.push_back (wkPtr_);
+ }
+
+ std::ostream& operator<< (std::ostream& os,
+ const hpp::manipulation::graph::GraphComponent& graphComp)
+ {
+ return graphComp.print (os);
+ }
+ } // namespace graph
+ } // namespace manipulation
+} // namespace hpp
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 95bfa1b65acdcf527b15b7f9bbf7fbd2fda8c98b..570035e506579ec25a14ed45dfcb1e970512e344 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -16,15 +16,15 @@
#include <hpp/util/assertion.hh>
+#include "hpp/manipulation/robot.hh"
#include "hpp/manipulation/graph/node-selector.hh"
#include "hpp/manipulation/graph/node.hh"
+#include "hpp/manipulation/graph/edge.hh"
#include "hpp/manipulation/graph/graph.hh"
namespace hpp {
namespace manipulation {
namespace graph {
- std::vector < GraphComponentWkPtr_t > GraphComponent::components = std::vector < GraphComponentWkPtr_t >();
-
GraphPtr_t Graph::create(RobotPtr_t robot)
{
Graph* ptr = new Graph;
@@ -147,10 +147,4 @@ namespace hpp {
} // namespace graph
} // namespace manipulation
- std::ostream& operator<< (std::ostream& os,
- const hpp::manipulation::graph::GraphComponent& graphComp)
- {
- return graphComp.print (os);
- }
-
} // namespace hpp
diff --git a/src/graph/node.cc b/src/graph/node.cc
index 2b3c408313a752cde872fbee8b1f19593fe2e0fa..db99a00bd6e6d1446348e54001e2b0478abd70e2 100644
--- a/src/graph/node.cc
+++ b/src/graph/node.cc
@@ -14,6 +14,9 @@
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+#include "hpp/manipulation/robot.hh"
+#include "hpp/manipulation/graph/edge.hh"
+#include "hpp/manipulation/graph/graph.hh"
#include "hpp/manipulation/graph/node.hh"
namespace hpp {