From 48b1f27349e0a66196cb9ed2882676980a403570 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 7 Jul 2014 19:11:09 +0200
Subject: [PATCH] Rename Classes
---
.../graph/{gripper-transition.hh => edge.hh} | 28 ++++++-------
include/hpp/manipulation/graph/fwd.hh | 39 +++++++++++++++++++
...per-state-selector.hh => node-selector.hh} | 21 ++++++----
.../graph/{gripper-state.hh => node.hh} | 25 ++++++------
4 files changed, 75 insertions(+), 38 deletions(-)
rename include/hpp/manipulation/graph/{gripper-transition.hh => edge.hh} (70%)
create mode 100644 include/hpp/manipulation/graph/fwd.hh
rename include/hpp/manipulation/graph/{gripper-state-selector.hh => node-selector.hh} (71%)
rename include/hpp/manipulation/graph/{gripper-state.hh => node.hh} (75%)
diff --git a/include/hpp/manipulation/graph/gripper-transition.hh b/include/hpp/manipulation/graph/edge.hh
similarity index 70%
rename from include/hpp/manipulation/graph/gripper-transition.hh
rename to include/hpp/manipulation/graph/edge.hh
index d49bfcf0..03b005bb 100644
--- a/include/hpp/manipulation/graph/gripper-transition.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -14,8 +14,8 @@
// 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_GRAPH_GRIPPER_TRANSITION_HH
-# define HPP_MANIPULATION_GRAPH_GRIPPER_TRANSITION_HH
+#ifndef HPP_MANIPULATION_GRAPH_EDGE_HH
+# define HPP_MANIPULATION_GRAPH_EDGE_HH
#include <hpp/core/constraints-set.hh>
@@ -25,43 +25,39 @@
namespace hpp {
namespace manipulation {
namespace graph {
- /// Transition between states of a gripper.
+ /// Transition between states of a end-effector.
///
/// Vertices of the graph of constraints.
- class HPP_MANIPULATION_DLLAPI GripperTransition
+ class HPP_MANIPULATION_DLLAPI Edge
{
public:
/// Projector to project onto the same leaf as config.
/// \return The initialized projector.
/// \param config Configuration that will initialize the projector.
- ConfigProjector* configurationProjector(model::Configuration_t config);
+ ConfigProjectorPtr_t configurationProjector(const Configuration_t config);
/// Projector to project a path.
/// \return The initialized projector.
/// \param config Configuration that will initialize the projector.
- ConfigProjector* pathProjector(model::Configuration_t config);
-
- protected:
- typedef hpp::core::ConstraintSet ConstraintSet;
- typedef hpp::core::ConfigProjector ConfigProjector;
+ ConfigProjectorPtr_t pathProjector(const Configuration_t config);
private:
/// The two ends of the transition.
- GripperState* startState, endState;
+ NodeWkPtr_t startState, endState;
/// Set of constraints to be statisfied.
- ConstraintSet* constraints_;
+ ConstraintSetPtr_t constraints_;
/// Projectors ensuring that a path between q_near and q_proj is
/// valid regarding the manipulation rules.
- ConfigProjector* configurationProjector_;
+ ConfigProjectorPtr_t configurationProjector_;
/// Projectors ensuring that a path between two configurations in
/// the same leaf lies in the leaf.
- ConfigProjector* pathProjector_;
- }; // class GripperState
+ ConfigProjectorPtr_t pathProjector_;
+ }; // class Edge
} // namespace graph
} // namespace manipulation
} // namespace hpp
-#endif // HPP_MANIPULATION_GRAPH_GRIPPER_TRANSITION_HH
+#endif // HPP_MANIPULATION_GRAPH_EDGE_HH
diff --git a/include/hpp/manipulation/graph/fwd.hh b/include/hpp/manipulation/graph/fwd.hh
new file mode 100644
index 00000000..73b398b5
--- /dev/null
+++ b/include/hpp/manipulation/graph/fwd.hh
@@ -0,0 +1,39 @@
+// Copyright (c) 2014, LAAS-CNRS
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-manipulation is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// 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_GRAPH_FWD_HH
+# define HPP_MANIPULATION_GRAPH_FWD_HH
+
+#include <hpp/util/pointer.hh>
+#include <hpp/util/config.h>
+
+namespace hpp {
+ namespace manipulation {
+ namespace graph {
+ HPP_PREDEF_CLASS (Node);
+ HPP_PREDEF_CLASS (Edge);
+ HPP_PREDEF_CLASS (NodeSelector);
+ typedef boost::shared_ptr < Edge > EdgePtr_t;
+ typedef boost::shared_ptr < NodeSelector > NodeSelectorPtr_t;
+
+ typedef hpp::core::ConstraintSet_t ConstraintSet_t;
+ typedef hpp::core::ConstraintSetPtr_t ConstraintSetPtr_t;
+ typedef hpp::core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
+ } // namespace graph
+ } // namespace manipulation
+} // namespace hpp
+
+#endif // HPP_MANIPULATION_GRAPH_FWD_HH
diff --git a/include/hpp/manipulation/graph/gripper-state-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
similarity index 71%
rename from include/hpp/manipulation/graph/gripper-state-selector.hh
rename to include/hpp/manipulation/graph/node-selector.hh
index 602a88dc..b507cfcd 100644
--- a/include/hpp/manipulation/graph/gripper-state-selector.hh
+++ b/include/hpp/manipulation/graph/node-selector.hh
@@ -14,6 +14,9 @@
// 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_GRAPH_NODE_SELECTOR_HH
+# define HPP_MANIPULATION_GRAPH_NODE_SELECTOR_HH
+
#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/gripper-state.hh"
@@ -22,16 +25,18 @@ namespace hpp {
namespace graph {
/// This class is used to get the state of a configuration. States have to
/// be ordered because a configuration can be in several states.
- class HPP_MANIPULATION_DLLAPI GripperStateSelector
+ class HPP_MANIPULATION_DLLAPI NodeSelector
{
public:
/// Returns the state of a configuration.
- virtual GripperState getState(const Configuration_t config) const;
+ virtual Node getState(const Configuration_t config) const;
private:
- /// List of the states of one gripper, ordered by priority.
- std::vector< GripperState > orderedStates_;
- }
- } // ----- End of namespace graph -----
- } // ----- End of namespace manipulation -----
-} // ----- End of namespace hpp -----
+ /// List of the states of one end-effector, ordered by priority.
+ std::vector< NodeWkPtr_t > orderedStates_;
+ }; //
+ } // namespace graph
+ } // namespace manipulation
+} // namespace hpp
+
+#endif // HPP_MANIPULATION_GRAPH_NODE_SELECTOR_HH
diff --git a/include/hpp/manipulation/graph/gripper-state.hh b/include/hpp/manipulation/graph/node.hh
similarity index 75%
rename from include/hpp/manipulation/graph/gripper-state.hh
rename to include/hpp/manipulation/graph/node.hh
index 9a23a6fc..08880ef4 100644
--- a/include/hpp/manipulation/graph/gripper-state.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -14,8 +14,8 @@
// 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_GRAPH_GRIPPER_STATE_HH
-# define HPP_MANIPULATION_GRAPH_GRIPPER_STATE_HH
+#ifndef HPP_MANIPULATION_GRAPH_NODE_HH
+# define HPP_MANIPULATION_GRAPH_NODE_HH
#include <hpp/core/constraints-set.hh>
@@ -24,11 +24,11 @@
namespace hpp {
namespace manipulation {
namespace graph {
- /// State of a gripper.
+ /// State of an end-effector.
///
/// Nodes of the graph of constraints. There is one
- /// graph for each gripper.
- class HPP_MANIPULATION_DLLAPI GripperState
+ /// graph for each end-effector.
+ class HPP_MANIPULATION_DLLAPI Node
{
public:
/// Check whether the configuration is in this state.
@@ -36,25 +36,22 @@ namespace hpp {
/// \param config The configuration to be tested.
/// \note You should note use that to know in which states a
/// configuration is. This only checks if the configuration satisfies
- /// the constraints. Instead, use the class GripperStateSelector.
+ /// the constraints. Instead, use the class NodeSelector.
virtual bool contains(const Configuration_t config) const;
- protected:
- typedef hpp::core::ConstraintSet ConstraintSet;
-
private:
/// List of possible motions from this state (i.e. the outgoing
/// vertices).
- std::vector<GripperTransition*> neighbors_;
+ std::vector < EdgePtr_t > neighbors_;
/// Set of constraints to be statisfied.
- ConstraintSet* constraints_;
+ ConstraintSetPtr_t constraints_;
/// A selector that will implement the selection of the next state.
- GripperStateSelector* selector_;
- }; // class GripperState
+ NodeSelectorPtr_t selector_;
+ }; // class Node
} // namespace graph
} // namespace manipulation
} // namespace hpp
-#endif // HPP_MANIPULATION_GRAPH_GRIPPER_STATE_HH
+#endif // HPP_MANIPULATION_GRAPH_NODE_HH
--
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