From 47a418ab162bf7ecab5c94ec9a10efbc4f72a4c2 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 21 Apr 2015 11:50:30 +0200
Subject: [PATCH] Add name in constructors of GraphComponent.
- name setter is now deprecated.
---
include/hpp/manipulation/graph/edge.hh | 22 +++++++---
.../hpp/manipulation/graph/graph-component.hh | 4 +-
include/hpp/manipulation/graph/graph.hh | 6 +--
.../hpp/manipulation/graph/node-selector.hh | 6 +--
include/hpp/manipulation/graph/node.hh | 16 ++++---
src/graph/edge.cc | 43 +++++++++++--------
src/graph/graph.cc | 8 ++--
src/graph/node-selector.cc | 8 ++--
src/graph/node.cc | 14 +++---
tests/test-constraintgraph.cc | 17 ++++----
10 files changed, 86 insertions(+), 58 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 2e64c206..cfa46322 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -63,7 +63,10 @@ namespace hpp {
~Edge ();
/// Create a new empty Edge.
- static EdgePtr_t create (const GraphWkPtr_t& graph, const NodeWkPtr_t& from, const NodeWkPtr_t& to);
+ static EdgePtr_t create (const std::string& name,
+ const GraphWkPtr_t& graph,
+ const NodeWkPtr_t& from,
+ const NodeWkPtr_t& to);
virtual bool applyConstraints (core::NodePtr_t nnear, ConfigurationOut_t q) const;
@@ -99,7 +102,7 @@ namespace hpp {
const NodeWkPtr_t& to);
/// Constructor
- Edge();
+ Edge (const std::string& name);
/// Constraint to project onto the same leaf as config.
/// \return The initialized projector.
@@ -168,7 +171,10 @@ namespace hpp {
{
public:
/// Create a new WaypointEdge.
- static WaypointEdgePtr_t create (const GraphWkPtr_t& graph, const NodeWkPtr_t& from, const NodeWkPtr_t& to);
+ static WaypointEdgePtr_t create (const std::string& name,
+ const GraphWkPtr_t& graph,
+ const NodeWkPtr_t& from,
+ const NodeWkPtr_t& to);
virtual bool build (core::PathPtr_t& path, ConfigurationIn_t q1, ConfigurationIn_t q2, const core::WeighedDistance& d) const;
@@ -194,6 +200,9 @@ namespace hpp {
NodePtr_t node () const;
protected:
+ WaypointEdge (const std::string& name) : Edge (name)
+ {
+ }
/// Initialization of the object.
void init (const EdgeWkPtr_t& weak, const GraphWkPtr_t& graph, const NodeWkPtr_t& from,
const NodeWkPtr_t& to);
@@ -215,7 +224,10 @@ namespace hpp {
~LevelSetEdge ();
/// Create a new LevelSetEdge.
- static LevelSetEdgePtr_t create (const GraphWkPtr_t& graph, const NodeWkPtr_t& from, const NodeWkPtr_t& to);
+ static LevelSetEdgePtr_t create (const std::string& name,
+ const GraphWkPtr_t& graph,
+ const NodeWkPtr_t& from,
+ const NodeWkPtr_t& to);
virtual bool applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const;
@@ -240,7 +252,7 @@ namespace hpp {
void init (const EdgeWkPtr_t& weak, const GraphWkPtr_t& graph, const NodeWkPtr_t& from,
const NodeWkPtr_t& to);
- LevelSetEdge ();
+ LevelSetEdge (const std::string& name);
/// Print the object in a stream.
virtual std::ostream& print (std::ostream& os) const;
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 86b48bce..264d6572 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -45,7 +45,7 @@ namespace hpp {
const std::string& name() const;
/// Set the component name.
- void name(const std::string& name);
+ void name(const std::string& name) HPP_MANIPULATION_DEPRECATED;
/// Get the component by its ID. The validity of the GraphComponent
/// is not checked.
@@ -94,7 +94,7 @@ namespace hpp {
/// Initialize the component
void init (const GraphComponentWkPtr_t& weak);
- GraphComponent() : id_(-1)
+ GraphComponent(const std::string& name) : name_ (name), id_(-1)
{}
/// Stores the numerical constraints.
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 4b1c8bf5..cb09de29 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -43,10 +43,10 @@ namespace hpp {
{
public:
/// Create a new Graph.
- static GraphPtr_t create(DevicePtr_t robot);
+ static GraphPtr_t create(const std::string& name, DevicePtr_t robot);
/// Create and insert a NodeSelector inside the graph.
- NodeSelectorPtr_t createNodeSelector ();
+ NodeSelectorPtr_t createNodeSelector (const std::string& name);
/// Returns the states of a configuration.
NodePtr_t getNode (ConfigurationIn_t config) const;
@@ -107,7 +107,7 @@ namespace hpp {
void init (const GraphWkPtr_t& weak, DevicePtr_t robot);
/// Constructor
- Graph ()
+ Graph (const std::string& name) : GraphComponent (name)
{}
/// Print the object in a stream.
diff --git a/include/hpp/manipulation/graph/node-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
index bcb02d8c..4ae71187 100644
--- a/include/hpp/manipulation/graph/node-selector.hh
+++ b/include/hpp/manipulation/graph/node-selector.hh
@@ -31,10 +31,10 @@ namespace hpp {
{
public:
/// Create a new NodeSelector.
- static NodeSelectorPtr_t create();
+ static NodeSelectorPtr_t create(const std::string& name);
/// Create an empty node
- NodePtr_t createNode ();
+ NodePtr_t createNode (const std::string& name);
/// Returns the state of a configuration.
NodePtr_t getNode(ConfigurationIn_t config) const;
@@ -65,7 +65,7 @@ namespace hpp {
void init (const NodeSelectorPtr_t& weak);
/// Constructor
- NodeSelector ()
+ NodeSelector (const std::string& name) : GraphComponent (name)
{}
/// Print the object in a stream.
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index e7644c3d..4213e6a9 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -43,17 +43,21 @@ namespace hpp {
class HPP_MANIPULATION_DLLAPI Node : public GraphComponent
{
public:
+ typedef boost::function < EdgePtr_t
+ (const std::string&, const GraphWkPtr_t&,
+ const NodeWkPtr_t&, const NodeWkPtr_t&) >
+ EdgeFactory;
/// Destructor
~Node ();
/// Create a new node.
- static NodePtr_t create ();
+ static NodePtr_t create (const std::string& name);
/// Create a link from this node to the given node.
- EdgePtr_t linkTo(const NodePtr_t& to, const Weight_t& w = 1,
- const bool& isInNodeFrom = false,
- boost::function < EdgePtr_t (const GraphWkPtr_t&, const NodeWkPtr_t&, const NodeWkPtr_t&) > create
- = Edge::create);
+ EdgePtr_t linkTo (const std::string& name, const NodePtr_t& to,
+ const Weight_t& w = 1,
+ const bool& isInNodeFrom = false,
+ EdgeFactory create = Edge::create);
/// Check whether the configuration is in this state.
/// \code
@@ -130,7 +134,7 @@ namespace hpp {
void init (const NodeWkPtr_t& self);
/// Constructor
- Node();
+ Node(const std::string& name);
/// Print the object in a stream.
std::ostream& print (std::ostream& os) const;
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 2230710f..e1e1fb92 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -31,8 +31,9 @@
namespace hpp {
namespace manipulation {
namespace graph {
- Edge::Edge () : pathConstraints_ (new Constraint_t()),
- configConstraints_ (new Constraint_t())
+ Edge::Edge (const std::string& name) :
+ GraphComponent (name), pathConstraints_ (new Constraint_t()),
+ configConstraints_ (new Constraint_t())
{}
Edge::~Edge ()
@@ -57,9 +58,11 @@ namespace hpp {
else return to ();
}
- EdgePtr_t Edge::create (const GraphWkPtr_t& graph, const NodeWkPtr_t& from, const NodeWkPtr_t& to)
+ EdgePtr_t Edge::create (const std::string& name,
+ const GraphWkPtr_t& graph,
+ const NodeWkPtr_t& from, const NodeWkPtr_t& to)
{
- Edge* ptr = new Edge;
+ Edge* ptr = new Edge (name);
EdgePtr_t shPtr (ptr);
ptr->init(shPtr, graph, from, to);
return shPtr;
@@ -188,9 +191,11 @@ namespace hpp {
return false;
}
- WaypointEdgePtr_t WaypointEdge::create (const GraphWkPtr_t& graph, const NodeWkPtr_t& from, const NodeWkPtr_t& to)
+ WaypointEdgePtr_t WaypointEdge::create
+ (const std::string& name, const GraphWkPtr_t& graph,
+ const NodeWkPtr_t& from, const NodeWkPtr_t& to)
{
- WaypointEdge* ptr = new WaypointEdge;
+ WaypointEdge* ptr = new WaypointEdge (name);
WaypointEdgePtr_t shPtr (ptr);
ptr->init(shPtr, graph, from, to);
return shPtr;
@@ -242,24 +247,23 @@ namespace hpp {
void WaypointEdge::createWaypoint (const unsigned d, const std::string& bname)
{
- NodePtr_t node = Node::create ();
- node->parentGraph(graph_);
std::ostringstream ss;
ss << bname << "_n" << d;
- node->name (ss.str());
+ NodePtr_t node = Node::create (ss.str());
+ node->parentGraph(graph_);
EdgePtr_t edge;
+ ss.str (std::string ()); ss.clear ();
+ ss << bname << "_e" << d;
if (d == 0) {
- edge = Edge::create (graph_, from (), node);
+ edge = Edge::create (ss.str (), graph_, from (), node);
edge->isInNodeFrom (isInNodeFrom ());
} else {
- WaypointEdgePtr_t we = WaypointEdge::create (graph_, from (), node);
+ WaypointEdgePtr_t we = WaypointEdge::create (ss.str (), graph_,
+ from (), node);
we->createWaypoint (d-1, bname);
edge = we;
edge->isInNodeFrom (isInNodeFrom ());
}
- ss.str (std::string ()); ss.clear ();
- ss << bname << "_e" << d;
- edge->name (ss.str ());
waypoint_ = Waypoint (edge, node);
config_ = Configuration_t(graph_.lock ()->robot ()->configSize ());
result_ = Configuration_t(graph_.lock ()->robot ()->configSize ());
@@ -388,9 +392,11 @@ namespace hpp {
Edge::init (weak, graph, from, to);
}
- LevelSetEdgePtr_t LevelSetEdge::create (const GraphWkPtr_t& graph, const NodeWkPtr_t& from, const NodeWkPtr_t& to)
+ LevelSetEdgePtr_t LevelSetEdge::create
+ (const std::string& name, const GraphWkPtr_t& graph,
+ const NodeWkPtr_t& from, const NodeWkPtr_t& to)
{
- LevelSetEdge* ptr = new LevelSetEdge;
+ LevelSetEdge* ptr = new LevelSetEdge (name);
LevelSetEdgePtr_t shPtr (ptr);
ptr->init(shPtr, graph, from, to);
return shPtr;
@@ -475,7 +481,10 @@ namespace hpp {
extraLockedJoints_.push_back (lockedJoint);
}
- LevelSetEdge::LevelSetEdge (): extraConstraints_ (new Constraint_t()) {}
+ LevelSetEdge::LevelSetEdge (const std::string& name) :
+ Edge (name), extraConstraints_ (new Constraint_t())
+ {
+ }
LevelSetEdge::~LevelSetEdge ()
{
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index ef48c210..927b89e7 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -25,9 +25,9 @@
namespace hpp {
namespace manipulation {
namespace graph {
- GraphPtr_t Graph::create(DevicePtr_t robot)
+ GraphPtr_t Graph::create(const std::string& name, DevicePtr_t robot)
{
- Graph* ptr = new Graph;
+ Graph* ptr = new Graph (name);
GraphPtr_t shPtr (ptr);
ptr->init (shPtr, robot);
return shPtr;
@@ -40,9 +40,9 @@ namespace hpp {
wkPtr_ = weak;
}
- NodeSelectorPtr_t Graph::createNodeSelector()
+ NodeSelectorPtr_t Graph::createNodeSelector (const std::string& name)
{
- nodeSelector_ = NodeSelector::create();
+ nodeSelector_ = NodeSelector::create (name);
nodeSelector_->parentGraph (wkPtr_);
return nodeSelector_;
}
diff --git a/src/graph/node-selector.cc b/src/graph/node-selector.cc
index 81bbd15b..2b157117 100644
--- a/src/graph/node-selector.cc
+++ b/src/graph/node-selector.cc
@@ -22,9 +22,9 @@
namespace hpp {
namespace manipulation {
namespace graph {
- NodeSelectorPtr_t NodeSelector::create()
+ NodeSelectorPtr_t NodeSelector::create(const std::string& name)
{
- NodeSelector* ptr = new NodeSelector();
+ NodeSelector* ptr = new NodeSelector (name);
NodeSelectorPtr_t shPtr (ptr);
ptr->init (shPtr);
return shPtr;
@@ -36,9 +36,9 @@ namespace hpp {
wkPtr_ = weak;
}
- NodePtr_t NodeSelector::createNode ()
+ NodePtr_t NodeSelector::createNode (const std::string& name)
{
- NodePtr_t newNode = Node::create();
+ NodePtr_t newNode = Node::create (name);
newNode->nodeSelector(wkPtr_);
newNode->parentGraph(graph_);
orderedStates_.push_back(newNode);
diff --git a/src/graph/node.cc b/src/graph/node.cc
index d0450c4b..37be2aa1 100644
--- a/src/graph/node.cc
+++ b/src/graph/node.cc
@@ -25,7 +25,8 @@
namespace hpp {
namespace manipulation {
namespace graph {
- Node::Node () : configConstraints_ (new Constraint_t())
+ Node::Node (const std::string& name) :
+ GraphComponent (name), configConstraints_ (new Constraint_t())
{}
Node::~Node ()
@@ -33,9 +34,9 @@ namespace hpp {
if (configConstraints_) delete configConstraints_;
}
- NodePtr_t Node::create ()
+ NodePtr_t Node::create (const std::string& name)
{
- Node* node = new Node;
+ Node* node = new Node (name);
NodePtr_t shPtr(node);
shPtr->init(shPtr);
return shPtr;
@@ -47,10 +48,11 @@ namespace hpp {
wkPtr_ = weak;
}
- EdgePtr_t Node::linkTo(const NodePtr_t& to, const Weight_t& w, const bool& isInNodeFrom,
- boost::function < EdgePtr_t (const GraphWkPtr_t&, const NodeWkPtr_t&, const NodeWkPtr_t&) > create)
+ EdgePtr_t Node::linkTo(const std::string& name, const NodePtr_t& to,
+ const Weight_t& w, const bool& isInNodeFrom,
+ EdgeFactory create)
{
- EdgePtr_t newEdge = create(graph_, wkPtr_, to);
+ EdgePtr_t newEdge = create(name, graph_, wkPtr_, to);
neighbors_.insert (newEdge, w);
newEdge->isInNodeFrom (isInNodeFrom);
return newEdge;
diff --git a/tests/test-constraintgraph.cc b/tests/test-constraintgraph.cc
index 1a039bb3..3f8e5c85 100644
--- a/tests/test-constraintgraph.cc
+++ b/tests/test-constraintgraph.cc
@@ -62,16 +62,17 @@ namespace hpp_test {
} else {
robot = Device::create ("test-robot");
}
- graph_ = Graph::create (robot); components.push_back(graph_);
+ graph_ = Graph::create ("manpulation-graph", robot);
+ components.push_back(graph_);
graph_->maxIterations (20);
graph_->errorThreshold (1e-4);
- ns = graph_->createNodeSelector(); components.push_back(ns);
- n1 = ns->createNode (); components.push_back(n1);
- n2 = ns->createNode (); components.push_back(n2);
- e11 = n1->linkTo (n1); components.push_back(e11);
- e21 = n2->linkTo (n1); components.push_back(e21);
- e12 = n1->linkTo (n2); components.push_back(e12);
- e22 = n2->linkTo (n2); components.push_back(e22);
+ ns = graph_->createNodeSelector("node-selector"); components.push_back(ns);
+ n1 = ns->createNode ("node 1"); components.push_back(n1);
+ n2 = ns->createNode ("node 2"); components.push_back(n2);
+ e11 = n1->linkTo ("edge 11", n1); components.push_back(e11);
+ e21 = n2->linkTo ("edge 21", n1); components.push_back(e21);
+ e12 = n1->linkTo ("edge 12", n2); components.push_back(e12);
+ e22 = n2->linkTo ("edge 22", n2); components.push_back(e22);
q1 = Configuration_t::Zero(6);
q2 = Configuration_t::Zero(6);
--
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