From 3c0cf959b3e22641761a8ae1f9aa5e704d6ca641 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 27 Jan 2016 14:16:16 +0100
Subject: [PATCH] Node containing edges can be sepcified by the user.
---
include/hpp/manipulation/graph/edge.hh | 24 ++++++++++++++++++------
src/graph/edge.cc | 8 +-------
2 files changed, 19 insertions(+), 13 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 7c78acfc..8426a219 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -85,17 +85,29 @@ namespace hpp {
NodePtr_t from () const;
/// Get the node in which path is.
- virtual NodePtr_t node () const;
+ NodePtr_t node () const
+ {
+ return node_.lock();
+ }
+
+ void node (NodePtr_t node)
+ {
+ node_ = node;
+ }
- void isInNodeFrom (bool iinf)
+ /// \deprecated use node(NodePtr_t) instead.
+ void isInNodeFrom (bool iinf) HPP_MANIPULATION_DEPRECATED
{
- isInNodeFrom_ = iinf;
+ if (iinf) node_ = from_;
+ else node_ = to_;
}
- bool isInNodeFrom () const
+ /// \deprecated see NodePtr_t node() const
+ bool isInNodeFrom () const HPP_MANIPULATION_DEPRECATED
{
- return isInNodeFrom_;
+ return node_.lock() == from_.lock();
}
+
/// Get steering method associated to the edge.
const core::SteeringMethodPtr_t& steeringMethod () const
{
@@ -158,7 +170,7 @@ namespace hpp {
NodeWkPtr_t from_, to_;
/// True if this path is in node from, False if in node to
- bool isInNodeFrom_;
+ NodeWkPtr_t node_;
/// Steering method used to create paths associated to the edge
SteeringMethod_t* steeringMethod_;
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 78fad10c..bcef230e 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -57,12 +57,6 @@ namespace hpp {
return from_.lock();
}
- NodePtr_t Edge::node () const
- {
- if (isInNodeFrom_) return from ();
- else return to ();
- }
-
bool Edge::direction (const core::PathPtr_t& path) const
{
Configuration_t q0 = path->initial (),
@@ -169,7 +163,7 @@ namespace hpp {
wkPtr_ = weak;
from_ = from;
to_ = to;
- isInNodeFrom_ = false;
+ node_ = to;
}
std::ostream& Edge::print (std::ostream& os) const
--
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