diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2504d9e9654119a3a35c0109a3afbd5dbc952a58..29306c552d3ae134f3d0a3862de83409f0a495c7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -81,7 +81,7 @@ SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/roadmap.hh
include/hpp/manipulation/roadmap-node.hh
include/hpp/manipulation/connected-component.hh
- include/hpp/manipulation/symbolic-component.hh
+ include/hpp/manipulation/leaf-connected-comp.hh
include/hpp/manipulation/symbolic-planner.hh
include/hpp/manipulation/manipulation-planner.hh
include/hpp/manipulation/graph-path-validation.hh
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 16cb9a31c44c3f8532cfa8e03fa2367a98e1dd44..d0b5de0ddafd618cc7ab57268e39b3fb64d075d6 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -60,11 +60,11 @@ namespace hpp {
typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
HPP_PREDEF_CLASS (ConnectedComponent);
typedef boost::shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
- HPP_PREDEF_CLASS (SymbolicComponent);
- typedef boost::shared_ptr<SymbolicComponent> SymbolicComponentPtr_t;
- typedef std::set<SymbolicComponentPtr_t> SymbolicComponents_t;
- HPP_PREDEF_CLASS (WeighedSymbolicComponent);
- typedef boost::shared_ptr<WeighedSymbolicComponent> WeighedSymbolicComponentPtr_t;
+ HPP_PREDEF_CLASS (LeafConnectedComp);
+ typedef boost::shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
+ typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
+ HPP_PREDEF_CLASS (WeighedLeafConnectedComp);
+ typedef boost::shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
HPP_PREDEF_CLASS (WeighedDistance);
typedef boost::shared_ptr<WeighedDistance> WeighedDistancePtr_t;
typedef constraints::RelativeOrientation RelativeOrientation;
diff --git a/include/hpp/manipulation/symbolic-component.hh b/include/hpp/manipulation/leaf-connected-comp.hh
similarity index 71%
rename from include/hpp/manipulation/symbolic-component.hh
rename to include/hpp/manipulation/leaf-connected-comp.hh
index 0648b0818ee86093159773a56cf499587b79de98..b3f932e320224241f9f45d3c129711e83e4f08b3 100644
--- a/include/hpp/manipulation/symbolic-component.hh
+++ b/include/hpp/manipulation/leaf-connected-comp.hh
@@ -16,8 +16,8 @@
// hpp-manipulation If not, see
// <http://www.gnu.org/licenses/>.
-#ifndef HPP_MANIPULATION_SYMBOLIC_COMPONENT_HH
-#define HPP_MANIPULATION_SYMBOLIC_COMPONENT_HH
+#ifndef HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
+#define HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
@@ -27,29 +27,29 @@
namespace hpp {
namespace manipulation {
- /// Set of configurations accessible to each others by a single edge,
+ /// Set of configurations accessible to each others by a single transition,
/// with the same right hand side.
///
/// This assumes the roadmap is not directed.
- class HPP_MANIPULATION_DLLAPI SymbolicComponent
+ class HPP_MANIPULATION_DLLAPI LeafConnectedComp
{
public:
- typedef std::set<SymbolicComponent*> SymbolicComponents_t;
+ typedef std::set<LeafConnectedComp*> LeafConnectedComps_t;
/// return a shared pointer to new instance
- static SymbolicComponentPtr_t create (const RoadmapPtr_t& roadmap);
+ static LeafConnectedCompPtr_t create (const RoadmapPtr_t& roadmap);
/// Merge two symbolic components
/// \param other manipulation symbolic component to merge into this one.
/// \note other will be empty after calling this method.
- virtual void merge (SymbolicComponentPtr_t otherCC);
+ virtual void merge (LeafConnectedCompPtr_t otherCC);
- bool canMerge (const SymbolicComponentPtr_t& otherCC) const;
+ bool canMerge (const LeafConnectedCompPtr_t& otherCC) const;
/// Add otherCC to the list of reachable components
///
/// This also add this object to the list of ancestor of otherCC.
- void canReach (const SymbolicComponentPtr_t& otherCC);
+ void canReach (const LeafConnectedCompPtr_t& otherCC);
/// Add roadmap node to connected component
/// \param roadmap node to be added
@@ -69,10 +69,10 @@ namespace hpp {
}
protected:
- SymbolicComponent(const RoadmapPtr_t& r)
+ LeafConnectedComp(const RoadmapPtr_t& r)
: roadmap_(r) {}
- void init (const SymbolicComponentWkPtr_t& shPtr)
+ void init (const LeafConnectedCompWkPtr_t& shPtr)
{
weak_ = shPtr;
}
@@ -82,19 +82,19 @@ namespace hpp {
private:
RoadmapWkPtr_t roadmap_;
- SymbolicComponents_t to_, from_;
- SymbolicComponentWkPtr_t weak_;
- }; // class SymbolicComponent
+ LeafConnectedComps_t to_, from_;
+ LeafConnectedCompWkPtr_t weak_;
+ }; // class LeafConnectedComp
- class HPP_MANIPULATION_DLLAPI WeighedSymbolicComponent :
- public SymbolicComponent
+ class HPP_MANIPULATION_DLLAPI WeighedLeafConnectedComp :
+ public LeafConnectedComp
{
public:
- void merge (SymbolicComponentPtr_t otherCC);
+ void merge (LeafConnectedCompPtr_t otherCC);
void setFirstNode (const RoadmapNodePtr_t& node);
- static WeighedSymbolicComponentPtr_t create (const RoadmapPtr_t& roadmap);
+ static WeighedLeafConnectedCompPtr_t create (const RoadmapPtr_t& roadmap);
std::size_t indexOf (const graph::EdgePtr_t e) const;
@@ -110,11 +110,11 @@ namespace hpp {
std::vector<graph::EdgePtr_t> edges_;
protected:
- WeighedSymbolicComponent(const RoadmapPtr_t& r)
- : SymbolicComponent(r), weight_(1) {}
+ WeighedLeafConnectedComp(const RoadmapPtr_t& r)
+ : LeafConnectedComp(r), weight_(1) {}
private:
- }; // class SymbolicComponent
+ }; // class LeafConnectedComp
} // namespace manipulation
} // namespace hpp
-#endif // HPP_MANIPULATION_SYMBOLIC_COMPONENT_HH
+#endif // HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
diff --git a/include/hpp/manipulation/roadmap-node.hh b/include/hpp/manipulation/roadmap-node.hh
index 439677d58b9343d5fd39a278f58c6981e61070e3..e55a92b31ffd26c7bc6be47c17f77ac1d81732ac 100644
--- a/include/hpp/manipulation/roadmap-node.hh
+++ b/include/hpp/manipulation/roadmap-node.hh
@@ -92,12 +92,12 @@ namespace hpp {
}
/// \}
- void symbolicComponent (const SymbolicComponentPtr_t& sc)
+ void symbolicComponent (const LeafConnectedCompPtr_t& sc)
{
symbolicCC_ = sc;
}
- SymbolicComponentPtr_t symbolicComponent () const
+ LeafConnectedCompPtr_t symbolicComponent () const
{
return symbolicCC_;
}
@@ -106,7 +106,7 @@ namespace hpp {
CachingSystem cacheSystem_;
graph::StateWkPtr_t state_;
- SymbolicComponentPtr_t symbolicCC_;
+ LeafConnectedCompPtr_t symbolicCC_;
};
} // namespace manipulation
} // namespace hpp
diff --git a/include/hpp/manipulation/roadmap.hh b/include/hpp/manipulation/roadmap.hh
index 685b1c1aa0b37eaa7e3fd5fd5597af6f534c5ea3..56de8879e3565d1f0e5bcc4fdb7e95eb0a9c9304 100644
--- a/include/hpp/manipulation/roadmap.hh
+++ b/include/hpp/manipulation/roadmap.hh
@@ -67,7 +67,7 @@ namespace hpp {
graph::StatePtr_t getState(RoadmapNodePtr_t node);
/// Get the symbolic components
- const SymbolicComponents_t& symbolicComponents () const
+ const LeafConnectedComps_t& symbolicComponents () const
{
return symbolicCCs_;
}
@@ -97,7 +97,7 @@ namespace hpp {
Histograms_t histograms_;
graph::GraphPtr_t graph_;
RoadmapWkPtr_t weak_;
- SymbolicComponents_t symbolicCCs_;
+ LeafConnectedComps_t symbolicCCs_;
};
/// \}
} // namespace manipulation
diff --git a/include/hpp/manipulation/symbolic-planner.hh b/include/hpp/manipulation/symbolic-planner.hh
index 3c0211649039c2a0bcac170949b8b303ddc0892c..2078d17c096188a01d6bef91603601757f358b64 100644
--- a/include/hpp/manipulation/symbolic-planner.hh
+++ b/include/hpp/manipulation/symbolic-planner.hh
@@ -104,11 +104,11 @@ namespace hpp {
/// \param alpha should be between 0 and 1.
///
/// \note Theoretically, the described operation preserves the
- /// normalization of the sum. WeighedSymbolicComponent::normalizeProba
+ /// normalization of the sum. WeighedLeafConnectedComp::normalizeProba
/// is called to avoid numerical errors.
static void updateEdgeProba (
const graph::EdgePtr_t edge,
- WeighedSymbolicComponentPtr_t wsc,
+ WeighedLeafConnectedCompPtr_t wsc,
const value_type alpha);
/// Configuration shooter
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ecb8644bfc75c921001c9f865d9beb7ffdcc2381..445be2a074c546d95fd70b07aa74a5c4429a4401 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -27,7 +27,7 @@ SET(SOURCES
problem-solver.cc
roadmap.cc
connected-component.cc
- symbolic-component.cc
+ leaf-connected-comp.cc
constraint-set.cc
roadmap-node.cc
device.cc
diff --git a/src/symbolic-component.cc b/src/leaf-connected-comp.cc
similarity index 72%
rename from src/symbolic-component.cc
rename to src/leaf-connected-comp.cc
index 3eb5ed2028c227ceb12be9eca823dbd64af02936..e7204bc8404861c783cb546670730c83d27cb757 100644
--- a/src/symbolic-component.cc
+++ b/src/leaf-connected-comp.cc
@@ -14,44 +14,44 @@
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
-#include <hpp/manipulation/symbolic-component.hh>
+#include <hpp/manipulation/leaf-connected-comp.hh>
#include <hpp/manipulation/roadmap.hh>
#include <hpp/manipulation/graph/state.hh>
namespace hpp {
namespace manipulation {
- SymbolicComponentPtr_t SymbolicComponent::create (const RoadmapPtr_t& roadmap)
+ LeafConnectedCompPtr_t LeafConnectedComp::create (const RoadmapPtr_t& roadmap)
{
- SymbolicComponentPtr_t shPtr =
- SymbolicComponentPtr_t(new SymbolicComponent(roadmap));
+ LeafConnectedCompPtr_t shPtr =
+ LeafConnectedCompPtr_t(new LeafConnectedComp(roadmap));
shPtr->init(shPtr);
return shPtr;
}
- void SymbolicComponent::addNode (const RoadmapNodePtr_t& node)
+ void LeafConnectedComp::addNode (const RoadmapNodePtr_t& node)
{
assert(state_);
graph::StatePtr_t state = roadmap_.lock()->getState(node);
// Sanity check
if (state_ == state) // Oops
- throw std::runtime_error ("RoadmapNode of SymbolicComponent must be in"
+ throw std::runtime_error ("RoadmapNode of LeafConnectedComp must be in"
" the same state");
nodes_.push_back(node);
}
- void SymbolicComponent::setFirstNode (const RoadmapNodePtr_t& node)
+ void LeafConnectedComp::setFirstNode (const RoadmapNodePtr_t& node)
{
assert(!state_);
state_ = roadmap_.lock()->getState(node);
nodes_.push_back(node);
}
- bool SymbolicComponent::canMerge (const SymbolicComponentPtr_t& otherCC) const
+ bool LeafConnectedComp::canMerge (const LeafConnectedCompPtr_t& otherCC) const
{
if (otherCC->state_ != state_) return false;
- SymbolicComponents_t::const_iterator it = std::find
+ LeafConnectedComps_t::const_iterator it = std::find
(to_.begin(), to_.end(), otherCC.get());
if (it == to_.end()) return false;
it = std::find
@@ -60,13 +60,13 @@ namespace hpp {
return true;
}
- void SymbolicComponent::canReach (const SymbolicComponentPtr_t& otherCC)
+ void LeafConnectedComp::canReach (const LeafConnectedCompPtr_t& otherCC)
{
to_.insert(otherCC.get());
otherCC->from_.insert(this);
}
- void SymbolicComponent::merge (SymbolicComponentPtr_t other)
+ void LeafConnectedComp::merge (LeafConnectedCompPtr_t other)
{
assert (canMerge(other));
if (other == weak_.lock()) return;
@@ -87,28 +87,28 @@ namespace hpp {
to_.insert (other->to_.begin(), other->to_.end());
}
- WeighedSymbolicComponentPtr_t WeighedSymbolicComponent::create (const RoadmapPtr_t& roadmap)
+ WeighedLeafConnectedCompPtr_t WeighedLeafConnectedComp::create (const RoadmapPtr_t& roadmap)
{
- WeighedSymbolicComponentPtr_t shPtr = WeighedSymbolicComponentPtr_t
- (new WeighedSymbolicComponent(roadmap));
+ WeighedLeafConnectedCompPtr_t shPtr = WeighedLeafConnectedCompPtr_t
+ (new WeighedLeafConnectedComp(roadmap));
shPtr->init(shPtr);
return shPtr;
}
- void WeighedSymbolicComponent::merge (SymbolicComponentPtr_t otherCC)
+ void WeighedLeafConnectedComp::merge (LeafConnectedCompPtr_t otherCC)
{
- WeighedSymbolicComponentPtr_t other =
- HPP_DYNAMIC_PTR_CAST(WeighedSymbolicComponent, otherCC);
+ WeighedLeafConnectedCompPtr_t other =
+ HPP_DYNAMIC_PTR_CAST(WeighedLeafConnectedComp, otherCC);
value_type r = ((value_type)nodes_.size()) / (value_type)(nodes_.size() + other->nodes_.size());
- SymbolicComponent::merge(otherCC);
+ LeafConnectedComp::merge(otherCC);
weight_ *= other->weight_; // TODO a geometric mean would be more natural.
p_ = r * p_ + (1 - r) * other->p_;
}
- void WeighedSymbolicComponent::setFirstNode (const RoadmapNodePtr_t& node)
+ void WeighedLeafConnectedComp::setFirstNode (const RoadmapNodePtr_t& node)
{
- SymbolicComponent::setFirstNode(node);
+ LeafConnectedComp::setFirstNode(node);
std::vector<value_type> p = state_->neighbors().probabilities();
p_.resize(p.size());
edges_ = state_->neighbors().values();
@@ -116,7 +116,7 @@ namespace hpp {
p_[i] = p[i];
}
- std::size_t WeighedSymbolicComponent::indexOf (const graph::EdgePtr_t e) const
+ std::size_t WeighedLeafConnectedComp::indexOf (const graph::EdgePtr_t e) const
{
std::size_t i = 0;
for (; i < edges_.size(); ++i)
diff --git a/src/roadmap.cc b/src/roadmap.cc
index a505ed48ff0d8423c2b925550c208d184025b27f..28e67f5ab8586a6e00d4533c1a218a5ad8c2e12f 100644
--- a/src/roadmap.cc
+++ b/src/roadmap.cc
@@ -23,7 +23,7 @@
#include <hpp/manipulation/roadmap.hh>
#include <hpp/manipulation/roadmap-node.hh>
-#include <hpp/manipulation/symbolic-component.hh>
+#include <hpp/manipulation/leaf-connected-comp.hh>
#include <hpp/manipulation/graph/state.hh>
#include <hpp/manipulation/graph/statistics.hh>
@@ -118,7 +118,7 @@ namespace hpp {
{
// call RoadmapNode constructor with new manipulation connected component
RoadmapNodePtr_t node = new RoadmapNode (q, ConnectedComponent::create(weak_));
- SymbolicComponentPtr_t sc = WeighedSymbolicComponent::create (weak_.lock());
+ LeafConnectedCompPtr_t sc = WeighedLeafConnectedComp::create (weak_.lock());
node->symbolicComponent (sc);
sc->setFirstNode(node);
return node;
@@ -134,8 +134,8 @@ namespace hpp {
Parent::addEdge(edge);
const RoadmapNodePtr_t& f = static_cast <const RoadmapNodePtr_t> (edge->from());
const RoadmapNodePtr_t& t = static_cast <const RoadmapNodePtr_t> (edge->to());
- SymbolicComponentPtr_t scf = f->symbolicComponent();
- SymbolicComponentPtr_t sct = t->symbolicComponent();
+ LeafConnectedCompPtr_t scf = f->symbolicComponent();
+ LeafConnectedCompPtr_t sct = t->symbolicComponent();
scf->canReach(sct);
if (scf->canMerge(sct)) {
if (scf->nodes().size() > sct->nodes().size()) {
diff --git a/src/symbolic-planner.cc b/src/symbolic-planner.cc
index 9b9d26897782520065155a12db69aaf49e39778a..f0ae1b3c8467dba727976b9c317be031df4cef99 100644
--- a/src/symbolic-planner.cc
+++ b/src/symbolic-planner.cc
@@ -42,15 +42,15 @@
#include "hpp/manipulation/problem.hh"
#include "hpp/manipulation/roadmap.hh"
#include "hpp/manipulation/roadmap-node.hh"
-#include "hpp/manipulation/symbolic-component.hh"
+#include "hpp/manipulation/leaf-connected-comp.hh"
#include "hpp/manipulation/graph-path-validation.hh"
#include "hpp/manipulation/graph/edge.hh"
#include "hpp/manipulation/graph/graph.hh"
#include "hpp/manipulation/graph/state-selector.hh"
#define CastToWSC_ptr(var, scPtr) \
- WeighedSymbolicComponentPtr_t var = \
- HPP_DYNAMIC_PTR_CAST(WeighedSymbolicComponent,scPtr)
+ WeighedLeafConnectedCompPtr_t var = \
+ HPP_DYNAMIC_PTR_CAST(WeighedLeafConnectedComp,scPtr)
namespace hpp {
namespace manipulation {
@@ -74,22 +74,22 @@ namespace hpp {
HPP_DEFINE_TIMECOUNTER(projectPath);
HPP_DEFINE_TIMECOUNTER(validatePath);
- struct WeighedSymbolicComponentComp {
- bool operator() (const SymbolicComponentPtr_t& lhs, const SymbolicComponentPtr_t& rhs)
+ struct WeighedLeafConnectedCompComp {
+ bool operator() (const LeafConnectedCompPtr_t& lhs, const LeafConnectedCompPtr_t& rhs)
{
- return HPP_DYNAMIC_PTR_CAST(WeighedSymbolicComponent, lhs)->weight_
- > HPP_DYNAMIC_PTR_CAST(WeighedSymbolicComponent, rhs)->weight_;
+ return HPP_DYNAMIC_PTR_CAST(WeighedLeafConnectedComp, lhs)->weight_
+ > HPP_DYNAMIC_PTR_CAST(WeighedLeafConnectedComp, rhs)->weight_;
}
};
- typedef std::list<WeighedSymbolicComponentPtr_t> SymbolicComponentList_t;
- SymbolicComponentList_t sorted_list (const SymbolicComponents_t& sc)
+ typedef std::list<WeighedLeafConnectedCompPtr_t> LeafConnectedCompList_t;
+ LeafConnectedCompList_t sorted_list (const LeafConnectedComps_t& sc)
{
- SymbolicComponentList_t l;
- WeighedSymbolicComponentComp comp;
- for (SymbolicComponents_t::const_iterator _sc = sc.begin();
+ LeafConnectedCompList_t l;
+ WeighedLeafConnectedCompComp comp;
+ for (LeafConnectedComps_t::const_iterator _sc = sc.begin();
_sc != sc.end(); ++_sc)
l.insert (std::upper_bound(l.begin(), l.end(), *_sc, comp),
- HPP_DYNAMIC_PTR_CAST(WeighedSymbolicComponent, *_sc));
+ HPP_DYNAMIC_PTR_CAST(WeighedLeafConnectedComp, *_sc));
return l;
}
@@ -179,7 +179,7 @@ namespace hpp {
// Get the roadmap and the symbolic components
RoadmapPtr_t rdm = HPP_DYNAMIC_PTR_CAST(Roadmap, roadmap());
HPP_ASSERT(rdm);
- SymbolicComponentList_t scs = sorted_list (rdm->symbolicComponents());
+ LeafConnectedCompList_t scs = sorted_list (rdm->symbolicComponents());
core::Nodes_t newNodes;
core::PathPtr_t path;
@@ -199,8 +199,8 @@ namespace hpp {
itcc != rdm->connectedComponents ().end (); ++itcc) {
// Find the symbolic component in this connected component which has
// the highest value.
- SymbolicComponentPtr_t sc;
- for (SymbolicComponentList_t::iterator _sc = scs.begin();
+ LeafConnectedCompPtr_t sc;
+ for (LeafConnectedCompList_t::iterator _sc = scs.begin();
_sc != scs.end(); ++_sc) {
sc = *_sc;
if (sc->connectedComponent() == *itcc) break;
@@ -300,10 +300,10 @@ namespace hpp {
HPP_START_TIMECOUNTER (chooseEdge);
// This code should go into a NodeSelector derived class.
- WeighedSymbolicComponentPtr_t wscPtr = HPP_DYNAMIC_PTR_CAST
- (WeighedSymbolicComponent, n_near->symbolicComponent());
+ WeighedLeafConnectedCompPtr_t wscPtr = HPP_DYNAMIC_PTR_CAST
+ (WeighedLeafConnectedComp, n_near->symbolicComponent());
if (wscPtr) {
- WeighedSymbolicComponent wsc = *wscPtr;
+ WeighedLeafConnectedComp wsc = *wscPtr;
value_type R = rand() / RAND_MAX;
std::size_t i = 0;
for (value_type sum = wsc.p_[0]; sum < R; sum += wsc.p_[i]) { ++i; }
@@ -632,7 +632,7 @@ namespace hpp {
void SymbolicPlanner::updateEdgeProba (
const graph::EdgePtr_t edge,
- WeighedSymbolicComponentPtr_t wsc,
+ WeighedLeafConnectedCompPtr_t wsc,
const value_type alpha) {
size_type i = wsc->indexOf (edge);
assert(i < wsc->p_.size());