From abb8d5c715c4c938ddea6fe36e85b0331083eccb Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 8 Aug 2014 16:02:42 +0200
Subject: [PATCH] Change keywords (virtual, const) in declaration of
GraphComponents
---
include/hpp/manipulation/graph/graph.hh | 10 +++++-----
include/hpp/manipulation/graph/node-selector.hh | 8 ++++----
include/hpp/manipulation/graph/node.hh | 2 +-
src/graph/graph.cc | 6 +++---
src/graph/node-selector.cc | 6 +++---
5 files changed, 16 insertions(+), 16 deletions(-)
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 0fc6144c..2fa1ee25 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -45,27 +45,27 @@ namespace hpp {
NodeSelectorPtr_t createNodeSelector();
/// Returns the states of a configuration.
- virtual Nodes_t getNode(const Configuration_t config);
+ Nodes_t getNode(const Configuration_t config) const;
/// Select randomly outgoing edges of the given nodes.
- virtual Edges_t chooseEdge(const Nodes_t& node);
+ Edges_t chooseEdge(const Nodes_t& node) const;
/// Constraint to project onto the Nodes_t.
/// \param the Nodes_t on which to project.
/// \return The initialized projector.
- virtual ConstraintSetPtr_t configConstraint (const Nodes_t& nodes);
+ ConstraintSetPtr_t configConstraint (const Nodes_t& nodes);
/// Constraint to project onto the same leaf as config.
/// \param edges a list of edges defining the foliation.
/// \param config Configuration that will initialize the projector.
/// \return The initialized projector.
- virtual ConstraintSetPtr_t configConstraint (const Edges_t& edges, ConfigurationIn_t config);
+ ConstraintSetPtr_t configConstraint (const Edges_t& edges, ConfigurationIn_t config);
/// Constraint to project a path.
/// \param edges a list of edges defining the foliation.
/// \param config Configuration that will initialize the constraint.
/// \return The initialized constraint.
- virtual ConstraintSetPtr_t pathConstraint (const Edges_t& edges, ConfigurationIn_t config);
+ ConstraintSetPtr_t pathConstraint (const Edges_t& edges, ConfigurationIn_t config);
/// Return the NodeSelector with the given name if any,
/// NULL pointer if not found.
diff --git a/include/hpp/manipulation/graph/node-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
index df4144c2..bbe44623 100644
--- a/include/hpp/manipulation/graph/node-selector.hh
+++ b/include/hpp/manipulation/graph/node-selector.hh
@@ -37,22 +37,22 @@ namespace hpp {
NodePtr_t createNode ();
/// Returns the state of a configuration.
- virtual NodePtr_t getNode(const Configuration_t config);
+ NodePtr_t getNode(const Configuration_t config) const;
/// Select randomly an outgoing edge of the given node.
- virtual EdgePtr_t chooseEdge(const NodePtr_t& node);
+ virtual EdgePtr_t chooseEdge(const NodePtr_t& node) const;
/// Print the object in a stream.
std::ostream& print (std::ostream& os) const;
/// Should never be called.
- virtual void addNumericalConstraint (const core::DifferentiableFunctionPtr_t& /* function */)
+ void addNumericalConstraint (const core::DifferentiableFunctionPtr_t& /* function */)
{
HPP_THROW_EXCEPTION (Bad_function_call, "This component does not have constraints.");
}
/// Should never be called.
- virtual void addLockedDofConstraint (const core::LockedDof& /* constraint */)
+ void addLockedDofConstraint (const core::LockedDof& /* constraint */)
{
HPP_THROW_EXCEPTION (Bad_function_call, "This component does not have constraints.");
}
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index 32784f41..db5b24b5 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -52,7 +52,7 @@ namespace hpp {
virtual bool contains (const Configuration_t config);
/// Get the parent NodeSelector.
- NodeSelectorWkPtr_t nodeSelector ()
+ NodeSelectorWkPtr_t nodeSelector () const
{
return selector_;
}
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index c64a4df2..e61e28df 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -73,16 +73,16 @@ namespace hpp {
return robot_;
}
- Nodes_t Graph::getNode(const Configuration_t config)
+ Nodes_t Graph::getNode(const Configuration_t config) const
{
Nodes_t nodes;
- for (NodeSelectors_t::iterator it = nodeSelectors_.begin();
+ for (NodeSelectors_t::const_iterator it = nodeSelectors_.begin();
it != nodeSelectors_.end(); it++)
nodes.push_back( (*it)->getNode(config) );
return nodes;
}
- Edges_t Graph::chooseEdge(const Nodes_t& nodes)
+ Edges_t Graph::chooseEdge(const Nodes_t& nodes) const
{
Edges_t edges;
for (Nodes_t::const_iterator it = nodes.begin();
diff --git a/src/graph/node-selector.cc b/src/graph/node-selector.cc
index 141bcd91..909ed653 100644
--- a/src/graph/node-selector.cc
+++ b/src/graph/node-selector.cc
@@ -44,16 +44,16 @@ namespace hpp {
return newNode;
}
- NodePtr_t NodeSelector::getNode(const Configuration_t config)
+ NodePtr_t NodeSelector::getNode(const Configuration_t config) const
{
- for (Nodes_t::iterator it = orderedStates_.begin();
+ for (Nodes_t::const_iterator it = orderedStates_.begin();
orderedStates_.end() != it; it++)
if ((*it)->contains(config))
return *it;
return NodePtr_t ();
}
- EdgePtr_t NodeSelector::chooseEdge(const NodePtr_t& node)
+ EdgePtr_t NodeSelector::chooseEdge(const NodePtr_t& node) const
{
const Edges_t neighbors = node->neighbors();
size_t n = rand() % neighbors.size();
--
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