Node::dotPrint also prints the NumericalConstraints_t for Path.

include/hpp/manipulation/graph/node.hh

@@ -126,6 +126,8 @@ namespace hpp {
           /// Print the object in a stream.
           std::ostream& print (std::ostream& os) const;
 
+          virtual void populateTooltip (dot::Tooltip& tp) const;
+
         private:
           /// List of possible motions from this state (i.e. the outgoing
           /// vertices).

src/graph/node.cc

@@ -16,6 +16,8 @@
 
 #include "hpp/manipulation/graph/node.hh"
 
+#include <hpp/constraints/differentiable-function.hh>
+
 #include "hpp/manipulation/robot.hh"
 #include "hpp/manipulation/graph/edge.hh"
 #include "hpp/manipulation/graph/graph.hh"
@@ -81,6 +83,17 @@ namespace hpp {
         return os;
       }
 
+      void Node::populateTooltip (dot::Tooltip& tp) const
+      {
+        GraphComponent::populateTooltip (tp);
+        tp.addLine ("");
+        tp.addLine ("Numerical constraints for paths are:");
+        for (NumericalConstraints_t::const_iterator it = numericalConstraintsForPath_.begin ();
+            it != numericalConstraintsForPath_.end (); ++it) {
+          tp.addLine ("- " + (*it)->function ().name ());
+        }
+      }
+
       std::ostream& Node::print (std::ostream& os) const
       {
         os << "|   |-- ";