From bee9cb8824c38edebdc8470c0948032796489f33 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 22 Jul 2014 15:10:55 +0200
Subject: [PATCH] Add operator<< for all graph::GraphComponents
---
include/hpp/manipulation/graph/edge.hh | 3 +++
include/hpp/manipulation/graph/graph.hh | 16 +++++++++++++++-
include/hpp/manipulation/graph/node-selector.hh | 3 +++
include/hpp/manipulation/graph/node.hh | 3 +++
src/graph/edge.cc | 8 ++++++++
src/graph/graph.cc | 16 ++++++++++++++++
src/graph/node-selector.cc | 9 +++++++++
src/graph/node.cc | 9 +++++++++
8 files changed, 66 insertions(+), 1 deletion(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index f6d9ab22..57605c59 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/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,
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 607893d9..b38cd3e8 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/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
diff --git a/include/hpp/manipulation/graph/node-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
index dc6834a9..e042e4a3 100644
--- a/include/hpp/manipulation/graph/node-selector.hh
+++ b/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);
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index 9766a3c3..d7c073f8 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/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);
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 2f0e8fb3..bb20a015 100644
--- a/src/graph/edge.cc
+++ b/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
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 094a392f..786a35c5 100644
--- a/src/graph/graph.cc
+++ b/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
diff --git a/src/graph/node-selector.cc b/src/graph/node-selector.cc
index 55b2a277..dc647502 100644
--- a/src/graph/node-selector.cc
+++ b/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
diff --git a/src/graph/node.cc b/src/graph/node.cc
index 2a9bd205..01fe00ed 100644
--- a/src/graph/node.cc
+++ b/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
--
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