From 413a0f9f814280ea208bbe881f71fdf413dabb74 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 11 Jul 2014 16:40:21 +0200
Subject: [PATCH] Update Class graph::Graph and graph::NodeSelector
---
include/hpp/manipulation/graph/graph.hh | 33 ++++++++++++++++++-
.../hpp/manipulation/graph/node-selector.hh | 20 +++++++++++
2 files changed, 52 insertions(+), 1 deletion(-)
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index f601313a..1233156f 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -36,19 +36,50 @@ namespace hpp {
class HPP_MANIPULATION_DLLAPI Graph
{
public:
+ /// Create a new Graph.
+ static GraphPtr_t create()
+ {
+ Graph* ptr = new Graph;
+ GraphPtr_t shPtr (ptr);
+ ptr->init (shPtr);
+ return shPtr;
+ }
+
+ /// Create and insert a NodeSelector inside the graph.
+ NodeSelectorPtr_t createNodeSelector()
+ {
+ NodeSelectorPtr_t newNodeSelector = NodeSelector::create();
+ nodeSelectors_.push_back(newNodeSelector);
+ return newNodeSelector;
+ }
+
/// Returns the states of a configuration.
virtual Nodes_t getNode(const Configuration_t config) const;
/// Select randomly outgoing edges of the given nodes.
virtual Edges_t chooseEdge(const Nodes_t& node) const;
+ protected:
+ /// Initialization of the object.
+ void init (const GraphWkPtr_t& weak)
+ {
+ wkPtr_ = weak;
+ }
+
+ /// Constructor
+ Graph ()
+ {}
+
private:
/// This list contains a node selector for each end-effector.
- set::list < NodeSelectorPtr_t > nodeSelectors_;
+ std::vector < NodeSelectorPtr_t > nodeSelectors_;
/// A set of constraints that will always be used, for example
/// stability constraints.
ConstraintPtr_t constraints_;
+
+ /// Weak pointer to itself.
+ GraphWkPtr_t wkPtr_;
}; // Class Graph
} // namespace graph
} // namespace manipulation
diff --git a/include/hpp/manipulation/graph/node-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
index 581b7a45..d6708dcf 100644
--- a/include/hpp/manipulation/graph/node-selector.hh
+++ b/include/hpp/manipulation/graph/node-selector.hh
@@ -28,6 +28,15 @@ namespace hpp {
class HPP_MANIPULATION_DLLAPI NodeSelector
{
public:
+ /// Create a new NodeSelector.
+ static NodeSelectorPtr_t create()
+ {
+ NodeSelector* ptr = new NodeSelector();
+ NodeSelectorPtr_t shPtr (ptr);
+ ptr->init (shPtr);
+ return shPtr;
+ }
+
/// Create a nodes with the constraints
NodePtr_t createNode (const ConstraintPtr_t& constraints)
{
@@ -42,6 +51,17 @@ namespace hpp {
/// Select randomly an outgoing edge of the given node.
virtual EdgePtr_t chooseEdge(const NodePtr_t& node) const;
+ protected:
+ /// Initialization of the object.
+ void init (const GraphWkPtr_t& weak)
+ {
+ wkPtr_ = weak;
+ }
+
+ /// Constructor
+ NodeSelector ()
+ {}
+
private:
/// List of the states of one end-effector, ordered by priority.
std::vector< NodePtr_t > orderedStates_;
--
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