Add operator<< for all graph::GraphComponents

include/hpp/manipulation/graph/edge.hh

@@ -47,6 +47,9 @@ namespace hpp {
           /// \param config Configuration that will initialize the projector.
           ConfigProjectorPtr_t pathProjector(const Configuration_t config);
 
+          /// Print the object in a stream.
+          std::ostream& print (std::ostream& os) const;
+
         protected:
           /// Initialization of the object.
           void init (const EdgeWkPtr_t& weak, const NodeWkPtr_t& from,

include/hpp/manipulation/graph/graph.hh

@@ -18,6 +18,7 @@
 # define HPP_MANIPULATION_GRAPH_GRAPH_HH
 
 # include <string>
+# include <ostream>
 # include <hpp/util/assertion.hh>
 
 # include "hpp/manipulation/robot.hh"
@@ -30,7 +31,7 @@ namespace hpp {
   namespace manipulation {
     namespace graph {
       /// Define common methods of the graph components.
-      class HPP_MANIPULATION_LOCAL GraphComponent
+      class HPP_MANIPULATION_DLLAPI GraphComponent
       {
         public:
           /// Get the component name.
@@ -59,6 +60,12 @@ namespace hpp {
             return id_;
           }
 
+          /// Print the object in a stream.
+          virtual std::ostream& print (std::ostream& os) const
+          {
+            return os;
+          }
+
         protected:
           void init (const GraphComponentWkPtr_t& weak)
           {
@@ -109,6 +116,9 @@ namespace hpp {
           /// NULL pointer if not found.
           NodeSelectorPtr_t getNodeSelectorByName (const std::string& name);
 
+          /// Print the object in a stream.
+          std::ostream& print (std::ostream& os) const;
+
         protected:
           /// Initialization of the object.
           void init (const GraphWkPtr_t& weak, RobotPtr_t robot);
@@ -133,6 +143,10 @@ namespace hpp {
       }; // Class Graph
     } // namespace graph
   } // namespace manipulation
+
+  HPP_MANIPULATION_DLLAPI std::ostream& operator<< (std::ostream& os,
+      const hpp::manipulation::graph::GraphComponent& graphComp);
+
 } // namespace hpp
 
 #endif // HPP_MANIPULATION_GRAPH_GRAPH_HH

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

@@ -45,6 +45,9 @@ namespace hpp {
           /// Select randomly an outgoing edge of the given node.
           virtual EdgePtr_t chooseEdge(const NodePtr_t& node);
 
+          /// Print the object in a stream.
+          std::ostream& print (std::ostream& os) const;
+
         protected:
           /// Initialization of the object.
           void init (const NodeSelectorPtr_t& weak);

include/hpp/manipulation/graph/node.hh

@@ -80,6 +80,9 @@ namespace hpp {
             return neighbors_;
           }
 
+          /// Print the object in a stream.
+          std::ostream& print (std::ostream& os) const;
+
         protected:
           /// Initialize the object.
           void init (const NodeWkPtr_t& self);

src/graph/edge.cc

@@ -37,6 +37,14 @@ namespace hpp {
         to_ = to;
         constraints_ = constraints;
       }
+
+      std::ostream& Edge::print (std::ostream& os) const
+      {
+        os << " |   |   |__ " << name () << " --> "
+          << to_.lock ()->name ();
+        return os;
+      }
+
     } // namespace graph
   } // namespace manipulation
 } // namespace hpp

src/graph/graph.cc

@@ -73,6 +73,22 @@ namespace hpp {
         }
         return NodeSelectorPtr_t();
       }
+
+      std::ostream& Graph::print (std::ostream& os) const
+      {
+        os << name () << std::endl;
+        for (NodeSelectors_t::const_iterator it = nodeSelectors_.begin();
+            it != nodeSelectors_.end(); it++)
+          os << *(*it);
+        return os;
+      }
     } // namespace graph
   } // namespace manipulation
+
+  std::ostream& operator<< (std::ostream& os,
+      const hpp::manipulation::graph::GraphComponent& graphComp)
+  {
+    return graphComp.print (os);
+  }
+
 } // namespace hpp

src/graph/node-selector.cc

@@ -66,6 +66,15 @@ namespace hpp {
         size_t n = rand() % neighbors.size();
         return neighbors[n];
       }
+
+      std::ostream& NodeSelector::print (std::ostream& os) const
+      {
+        os << " |__ " << name() << std::endl;
+        for (Nodes_t::const_iterator it = orderedStates_.begin();
+            orderedStates_.end() != it; it++)
+          os << *(*it);
+        return os;
+      }
     } // namespace graph
   } // namespace manipulation
 } // namespace hpp

src/graph/node.cc

@@ -62,6 +62,15 @@ namespace hpp {
         Configuration_t cfg = config;
         return constraints_->apply(cfg) && ( cfg == config );
       }
+
+      std::ostream& Node::print (std::ostream& os) const
+      {
+        os << " |    |_ " << name() << std::endl;
+        for (Edges_t::const_iterator it = neighbors_.begin();
+            it != neighbors_.end(); it++)
+          os << *(*it);
+        return os;
+      }
     } // namespace graph
   } // namespace manipulation
 } // namespace hpp