From 18517c3ad70dc7379439cab5a776e330fb882f68 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 24 Jul 2014 20:54:08 +0200
Subject: [PATCH] Add maxIterations, errorThreshold to class Graph
---
include/hpp/manipulation/graph/graph.hh | 41 +++++++++++++++++++++++++
1 file changed, 41 insertions(+)
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index b4aa0224..304d8a53 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -168,7 +168,45 @@ namespace hpp {
/// Print the object in a stream.
std::ostream& print (std::ostream& os) const;
+ /// Add a core::DifferentiableFunction function.
+ virtual void addNumericalConstraint (const core::DifferentiableFunctionPtr_t& /* function */)
+ {
+ HPP_THROW_EXCEPTION (Bad_function_call, "This component does not have constraints.");
+ }
+
+ /// Add a core::LockedDof constraint.
+ virtual void addLockedDofConstraint (const core::LockedDof& /* constraint */)
+ {
+ HPP_THROW_EXCEPTION (Bad_function_call, "This component does not have constraints.");
+ }
+
+ /// Set maximal number of iterations
+ void maxIterations (size_type iterations)
+ {
+ maxIterations_ = iterations;
+ }
+ /// Get maximal number of iterations in config projector
+ size_type maxIterations () const
+ {
+ return maxIterations_;
+ }
+ /// Set error threshold
+ void errorThreshold (const value_type& threshold)
+ {
+ errorThreshold_ = threshold;
+ }
+ /// Get errorimal number of threshold in config projector
+ value_type errorThreshold () const
+ {
+ return errorThreshold_;
+ }
+
+ /// Get the robot.
+ const RobotPtr_t& robot () const
+ {
+ return robot_;
+ }
protected:
/// Initialization of the object.
void init (const GraphWkPtr_t& weak, RobotPtr_t robot);
@@ -190,6 +228,9 @@ namespace hpp {
/// Weak pointer to itself.
GraphWkPtr_t wkPtr_;
+
+ value_type errorThreshold_;
+ size_type maxIterations_;
}; // Class Graph
} // namespace graph
} // namespace manipulation
--
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