From 4438a189de9b95da55c4cd72998ecadb5aa127e1 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 9 Jul 2014 18:30:47 +0200
Subject: [PATCH] Update constraint graph interface.
---
include/hpp/manipulation/graph/fwd.hh | 7 +++++++
include/hpp/manipulation/graph/graph.hh | 8 ++++++--
include/hpp/manipulation/graph/node-selector.hh | 7 +++++--
3 files changed, 18 insertions(+), 4 deletions(-)
diff --git a/include/hpp/manipulation/graph/fwd.hh b/include/hpp/manipulation/graph/fwd.hh
index 5902917e..22cb327c 100644
--- a/include/hpp/manipulation/graph/fwd.hh
+++ b/include/hpp/manipulation/graph/fwd.hh
@@ -18,15 +18,22 @@
# define HPP_MANIPULATION_GRAPH_FWD_HH
#include <hpp/util/pointer.hh>
+#include <vector>
namespace hpp {
namespace manipulation {
namespace graph {
+ HPP_PREDEF_CLASS (Graph);
HPP_PREDEF_CLASS (Node);
HPP_PREDEF_CLASS (Edge);
HPP_PREDEF_CLASS (NodeSelector);
+ typedef boost::shared_ptr < Graph > GraphPtr_t;
+ typedef boost::shared_ptr < Node > NodePtr_t;
typedef boost::shared_ptr < Edge > EdgePtr_t;
typedef boost::shared_ptr < NodeSelector > NodeSelectorPtr_t;
+ typedef std::vector < NodePtr_t > Nodes_t;
+ typedef std::vector < EdgePtr_t > Edges_t;
+ typedef std::vector < NodeSelectorPtr_t > NodeSelectors_t;
typedef hpp::core::ConstraintSet ConstraintSet_t;
typedef hpp::core::ConstraintSetPtr_t ConstraintSetPtr_t;
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 5ff9e4a1..22a00515 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -14,7 +14,6 @@
// 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_GRAPHGRAPH_HH
# define HPP_MANIPULATION_GRAPHGRAPH_HH
@@ -30,6 +29,11 @@ namespace hpp {
class HPP_MANIPULATION_DLLAPI Graph
{
public:
+ /// 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;
private:
/// This list contains a node selector for each end-effector.
@@ -38,7 +42,7 @@ namespace hpp {
/// A set of constraints that will always be used, for example
/// stability constraints.
ConstraintSetPtr_t constraints_;
- }
+ }; // Class Graph
} // namespace graph
} // namespace manipulation
} // namespace hpp
diff --git a/include/hpp/manipulation/graph/node-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
index b507cfcd..e8a27570 100644
--- a/include/hpp/manipulation/graph/node-selector.hh
+++ b/include/hpp/manipulation/graph/node-selector.hh
@@ -29,12 +29,15 @@ namespace hpp {
{
public:
/// Returns the state of a configuration.
- virtual Node getState(const Configuration_t config) const;
+ virtual NodePtr_t getNode(const Configuration_t config) const;
+
+ /// Select randomly an outgoing edge of the given node.
+ virtual EdgePtr_t chooseEdge(const NodePtr_t& node) const;
private:
/// List of the states of one end-effector, ordered by priority.
std::vector< NodeWkPtr_t > orderedStates_;
- }; //
+ }; // Class NodeSelector
} // namespace graph
} // namespace manipulation
} // namespace hpp
--
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