From 04f931dd03b3da751825fc9b7f73c3d9781c25de Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 28 Mar 2020 17:50:41 +0100
Subject: [PATCH] [Edge] Rename configConstraint into targetConstraint
Make previous methods deprecated
Rename Graph::configConstraint(EdgePtr_t) into targetConstraint.
---
include/hpp/manipulation/graph/edge.hh | 24 +++++++++++++++----
include/hpp/manipulation/graph/graph.hh | 16 +++++++++----
src/graph/edge.cc | 32 ++++++++++++++++++-------
src/graph/graph.cc | 9 +++++--
4 files changed, 63 insertions(+), 18 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 5eff0b52..40403654 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -191,7 +191,12 @@ namespace hpp {
virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
/// Constraint of the destination state and of the path
- ConstraintSetPtr_t configConstraint() const;
+ /// \deprecated Use targetConstraint instead
+ ConstraintSetPtr_t configConstraint() const
+ HPP_MANIPULATION_DEPRECATED;
+
+ /// Constraint of the destination state and of the path
+ ConstraintSetPtr_t targetConstraint() const;
void setShort (bool isShort) {
isShort_ = isShort;
@@ -212,8 +217,13 @@ namespace hpp {
/// Constructor
Edge (const std::string& name);
- virtual ConstraintSetPtr_t buildConfigConstraint();
+ virtual ConstraintSetPtr_t buildConfigConstraint()
+ HPP_MANIPULATION_DEPRECATED;
+
+ /// Build path and target state constraint set.
+ virtual ConstraintSetPtr_t buildTargetConstraint();
+ /// Build path constraints
virtual ConstraintSetPtr_t buildPathConstraint();
virtual void initialize ();
@@ -229,7 +239,7 @@ namespace hpp {
/// Constraint ensuring that a q_proj will be in to_ and in the
/// same leaf of to_ as the configuration used for initialization.
- ConstraintSetPtr_t configConstraints_;
+ ConstraintSetPtr_t targetConstraints_;
/// The two ends of the transition.
StateWkPtr_t from_, to_;
@@ -425,7 +435,13 @@ namespace hpp {
/// from nnear.
virtual bool generateTargetConfig (ConfigurationIn_t qStart,
ConfigurationOut_t q) const;
- virtual ConstraintSetPtr_t buildConfigConstraint();
+
+ /// \deprecated Use buildTargetConstraint instead
+ virtual ConstraintSetPtr_t buildConfigConstraint()
+ HPP_MANIPULATION_DEPRECATED;
+
+ /// Build path and target state constraints
+ virtual ConstraintSetPtr_t buildTargetConstraint();
void buildHistogram ();
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index ff072019..af584067 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -122,10 +122,18 @@ namespace hpp {
/// \return The initialized projector.
ConstraintSetPtr_t configConstraint (const StatePtr_t& state) const;
- /// Constraint to project onto the same leaf as config.
- /// \param edges a list of edges defining the foliation.
- /// \return The constraint.
- ConstraintSetPtr_t configConstraint (const EdgePtr_t& edge) const;
+ /// Constraints of path and target state of an edge
+ /// \deprecated Use tagetConstraint instead.
+ ConstraintSetPtr_t configConstraint (const EdgePtr_t& edge) const
+ HPP_MANIPULATION_DEPRECATED;
+
+ /// Constraints a configuration in target state should satisfy
+ /// \param edge a transition
+ /// \return The set of constraints a configuration lying in the
+ /// target state of the edge should satisfy. This set
+ /// includes the paths constraints of the edge.
+ /// \sa Edge::targetConstraint.
+ ConstraintSetPtr_t targetConstraint (const EdgePtr_t& edge) const;
/// Get error of a config with respect to a state constraint
///
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index f5fce065..6545f994 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -41,7 +41,7 @@ namespace hpp {
Edge::Edge (const std::string& name) :
GraphComponent (name), isShort_ (false),
pathConstraints_ (),
- configConstraints_ (),
+ targetConstraints_ (),
steeringMethod_ (),
securityMargins_ (),
pathValidation_ ()
@@ -165,7 +165,7 @@ namespace hpp {
void Edge::initialize ()
{
- configConstraints_ = buildConfigConstraint ();
+ targetConstraints_ = buildTargetConstraint ();
pathConstraints_ = buildPathConstraint ();
isInit_ = true;
}
@@ -191,10 +191,16 @@ namespace hpp {
return os;
}
+ ConstraintSetPtr_t Edge::targetConstraint() const
+ {
+ throwIfNotInitialized ();
+ return targetConstraints_;
+ }
+
ConstraintSetPtr_t Edge::configConstraint() const
{
throwIfNotInitialized ();
- return configConstraints_;
+ return targetConstraints_;
}
// Merge constraints of several graph components into a config projectors
@@ -264,6 +270,11 @@ namespace hpp {
}
ConstraintSetPtr_t Edge::buildConfigConstraint()
+ {
+ return buildTargetConstraint();
+ }
+
+ ConstraintSetPtr_t Edge::buildTargetConstraint()
{
std::string n = "(" + name () + ")";
GraphPtr_t g = graph_.lock ();
@@ -392,7 +403,7 @@ namespace hpp {
bool Edge::generateTargetConfig (ConfigurationIn_t qStart,
ConfigurationOut_t q) const
{
- ConstraintSetPtr_t c = configConstraint ();
+ ConstraintSetPtr_t c = targetConstraint();
ConfigProjectorPtr_t proj = c->configProjector ();
proj->rightHandSideFromConfig (qStart);
if (isShort_) q = qStart;
@@ -463,10 +474,10 @@ namespace hpp {
lastSucceeded_ = false;
return false;
}
- assert (configConstraint ());
- assert (configConstraint ()->configProjector ());
+ assert (targetConstraint());
+ assert (targetConstraint()->configProjector ());
value_type eps
- (configConstraint ()->configProjector ()->errorThreshold ());
+ (targetConstraint()->configProjector ()->errorThreshold ());
if ((configs_.col(i) - configs_.col (i+1)).squaredNorm () > eps*eps) {
if (!edges_[i]->build (p, configs_.col(i), configs_.col (i+1))) {
hppDout (info, "Waypoint edge " << name()
@@ -639,7 +650,7 @@ namespace hpp {
ConfigurationIn_t qlevelset, ConfigurationOut_t q) const
{
// First, set the offset.
- ConstraintSetPtr_t cs = configConstraint ();
+ ConstraintSetPtr_t cs = targetConstraint();
const ConfigProjectorPtr_t cp = cs->configProjector ();
assert (cp);
@@ -754,6 +765,11 @@ namespace hpp {
}
ConstraintSetPtr_t LevelSetEdge::buildConfigConstraint()
+ {
+ return buildTargetConstraint();
+ }
+
+ ConstraintSetPtr_t LevelSetEdge::buildTargetConstraint()
{
std::string n = "(" + name () + ")";
GraphPtr_t g = graph_.lock ();
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 14a441ca..3725672c 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -205,7 +205,7 @@ namespace hpp {
(ConfigurationIn_t leafConfig, ConfigurationIn_t config,
const EdgePtr_t& edge, vector_t& error) const
{
- ConstraintSetPtr_t cs (configConstraint (edge));
+ ConstraintSetPtr_t cs (targetConstraint (edge));
ConfigProjectorPtr_t cp (cs->configProjector ());
if (cp) cp->rightHandSideFromConfig (leafConfig);
return cs->isSatisfied (config, error);
@@ -223,7 +223,12 @@ namespace hpp {
ConstraintSetPtr_t Graph::configConstraint (const EdgePtr_t& edge) const
{
- return edge->configConstraint ();
+ return edge->targetConstraint ();
+ }
+
+ ConstraintSetPtr_t Graph::targetConstraint (const EdgePtr_t& edge) const
+ {
+ return edge->targetConstraint ();
}
ConstraintSetPtr_t Graph::pathConstraint (const EdgePtr_t& edge) const
--
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