diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 57605c59f85761bee1ddaef76623b30060f7ef90..c4d8295a5efba4b5895b7ebe5f7a9239c597d507 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/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()
diff --git a/include/hpp/manipulation/graph/fwd.hh b/include/hpp/manipulation/graph/fwd.hh
index 719e7d3b4792622104ee5855138e3f84f1c2889c..610da41f93757ca72715c311545c5dce9485c9b2 100644
--- a/include/hpp/manipulation/graph/fwd.hh
+++ b/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;
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index b38cd3e80191d1881c99b7a5d1ef508409d1dee5..37e732a1e7d91ea029f0c27cdd71fe20dd8e911c 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/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);
diff --git a/include/hpp/manipulation/graph/node-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
index e042e4a3dafbf1169317bef364529017dac894f1..5b430c175d3d42a71d277f3fee8b6190783b8153 100644
--- a/include/hpp/manipulation/graph/node-selector.hh
+++ b/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);
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index d7c073f89b34d69c78a45872e9df97d3c6c71817..091d434e5a4035228b6ce8f92cd677e5443b6163 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/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()
{}
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index bb20a01545bfc314d3908a3b4db383af7e8d3aff..1d4f40c20ba0bb8f443139cfbf26f4cfc3bf1707 100644
--- a/src/graph/edge.cc
+++ b/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
diff --git a/src/graph/node.cc b/src/graph/node.cc
index 01fe00edc1980e11024fa3881a9557c502a72a23..cbc4480812320bea661d27077a7ac20860e24412 100644
--- a/src/graph/node.cc
+++ b/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;
}