Add pure virtual GraphComponent::constraints method

include/hpp/manipulation/graph/edge.hh

@@ -33,9 +33,12 @@ namespace hpp {
       class HPP_MANIPULATION_DLLAPI Edge : public GraphComponent
       {
         public:
-          /// Create a new Edge.
-          static EdgePtr_t create (const NodeWkPtr_t& from, const NodeWkPtr_t& to,
-              const ConstraintPtr_t& constraints);
+          /// Create a new empty Edge.
+          static EdgePtr_t create (const NodeWkPtr_t& from, const NodeWkPtr_t& to);
+
+          /// Set the constraints of the Edge.
+          void constraints (const ConstraintPtr_t& constraints)
+            throw (Bad_function_call);
 
           /// Projector to project onto the same leaf as config.
           /// \return The initialized projector.
@@ -53,7 +56,7 @@ namespace hpp {
         protected:
           /// Initialization of the object.
           void init (const EdgeWkPtr_t& weak, const NodeWkPtr_t& from,
-              const NodeWkPtr_t& to, const ConstraintPtr_t& constraints);
+              const NodeWkPtr_t& to);
 
           /// Constructor
           Edge()

include/hpp/manipulation/graph/fwd.hh

@@ -32,6 +32,7 @@ namespace hpp {
       typedef boost::shared_ptr < Node > NodePtr_t;
       typedef boost::shared_ptr < Edge > EdgePtr_t;
       typedef boost::shared_ptr < NodeSelector > NodeSelectorPtr_t;
+      typedef boost::shared_ptr < GraphComponent > GraphComponentPtr_t;
       typedef std::vector < NodePtr_t > Nodes_t;
       typedef std::vector < EdgePtr_t > Edges_t;
       typedef std::vector < NodeSelectorPtr_t > NodeSelectors_t;

include/hpp/manipulation/graph/graph.hh

@@ -20,6 +20,7 @@
 # include <string>
 # include <ostream>
 # include <hpp/util/assertion.hh>
+# include <hpp/util/exception.hh>
 
 # include "hpp/manipulation/robot.hh"
 
@@ -30,6 +31,8 @@
 namespace hpp {
   namespace manipulation {
     namespace graph {
+      HPP_MAKE_EXCEPTION ( HPP_MANIPULATION_DLLAPI, Bad_function_call );
+
       /// Define common methods of the graph components.
       class HPP_MANIPULATION_DLLAPI GraphComponent
       {
@@ -61,10 +64,11 @@ namespace hpp {
           }
 
           /// Print the object in a stream.
-          virtual std::ostream& print (std::ostream& os) const
-          {
-            return os;
-          }
+          virtual std::ostream& print (std::ostream& os) const = 0;
+
+          /// Set the constraints of the component.
+          virtual void constraints (const ConstraintPtr_t& /* constraints */)
+            throw (Bad_function_call) = 0;
 
         protected:
           void init (const GraphComponentWkPtr_t& weak)
@@ -119,6 +123,13 @@ namespace hpp {
           /// Print the object in a stream.
           std::ostream& print (std::ostream& os) const;
 
+          /// Should never be called.
+          virtual void constraints (const ConstraintPtr_t& /* constraints */)
+            throw (Bad_function_call)
+          {
+            HPP_THROW_EXCEPTION (Bad_function_call, "This component does not have constraints.");
+          }
+
         protected:
           /// Initialization of the object.
           void init (const GraphWkPtr_t& weak, RobotPtr_t robot);

include/hpp/manipulation/graph/node-selector.hh

@@ -48,6 +48,12 @@ namespace hpp {
           /// Print the object in a stream.
           std::ostream& print (std::ostream& os) const;
 
+          /// Should never be called.
+          virtual void constraints (const ConstraintPtr_t& /* constraints */)
+            throw (Bad_function_call)
+          {
+            HPP_THROW_EXCEPTION (Bad_function_call, "This component does not have constraints.");
+          }
         protected:
           /// Initialization of the object.
           void init (const NodeSelectorPtr_t& weak);

include/hpp/manipulation/graph/node.hh

@@ -40,7 +40,7 @@ namespace hpp {
           static NodePtr_t create (const ConstraintPtr_t& constraints);
 
           /// Create a link from this node to the given node.
-          EdgePtr_t linkTo(const NodePtr_t& to, const ConstraintPtr_t& constraints);
+          EdgePtr_t linkTo(const NodePtr_t& to);
 
           /// Check whether the configuration is in this state.
           /// \return True if this state contains this configuration
@@ -58,9 +58,7 @@ namespace hpp {
 
           /// Set the constraint set associated to the node.
           void constraints (const ConstraintPtr_t& constraints)
-          {
-            constraints_ = constraints;
-          }
+            throw (Bad_function_call);
 
           /// Get the parent NodeSelector.
           NodeSelectorWkPtr_t nodeSelector ()
@@ -90,6 +88,7 @@ namespace hpp {
           /// Initialize the object.
           void init (const NodeWkPtr_t& self, const ConstraintPtr_t& constraints);
 
+          /// Constructor
           Node()
           {}
 

src/graph/edge.cc

@@ -19,23 +19,27 @@
 namespace hpp {
   namespace manipulation {
     namespace graph {
-      EdgePtr_t Edge::create (const NodeWkPtr_t& from, const NodeWkPtr_t& to,
-          const ConstraintPtr_t& constraints)
+      EdgePtr_t Edge::create (const NodeWkPtr_t& from, const NodeWkPtr_t& to)
       {
         Edge* ptr = new Edge;
         EdgePtr_t shPtr (ptr);
-        ptr->init(shPtr, from, to, constraints);
+        ptr->init(shPtr, from, to);
         return shPtr;
       }
 
+      void Edge::constraints (const ConstraintPtr_t& constraint)
+        throw (Bad_function_call)
+      {
+        constraints_ = constraint;
+      }
+
       void Edge::init (const EdgeWkPtr_t& weak, const NodeWkPtr_t& from,
-          const NodeWkPtr_t& to, const ConstraintPtr_t& constraints)
+          const NodeWkPtr_t& to)
       {
         GraphComponent::init (weak);
         wkPtr_ = weak;
         from_ = from;
         to_ = to;
-        constraints_ = constraints;
       }
 
       std::ostream& Edge::print (std::ostream& os) const

src/graph/node.cc

@@ -47,9 +47,15 @@ namespace hpp {
         constraints(constraint);
       }
 
-      EdgePtr_t Node::linkTo(const NodePtr_t& to, const ConstraintPtr_t& constraints)
+      void Node::constraints (const ConstraintPtr_t& constraint)
+        throw (Bad_function_call)
       {
-        EdgePtr_t newEdge = Edge::create(wkPtr_, to, constraints);
+        constraints_ = constraint;
+      }
+
+      EdgePtr_t Node::linkTo(const NodePtr_t& to)
+      {
+        EdgePtr_t newEdge = Edge::create(wkPtr_, to);
         neighbors_.push_back(newEdge);
         return newEdge;
       }