From c6fb6381f6590f0eb08bd37ae0c21463aad77fd5 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 27 Jan 2016 14:17:30 +0100
Subject: [PATCH] Edge can have negative weights in which case they are hidden
---
include/hpp/manipulation/graph/node.hh | 10 ++++++++++
src/graph/node.cc | 9 +++++++++
2 files changed, 19 insertions(+)
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index e47b9248..16eaf2f3 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -55,9 +55,18 @@ namespace hpp {
static NodePtr_t create (const std::string& name);
/// Create a link from this node to the given node.
+ /// \deprecated Use Edge->node(NodePtr_t) to give the node.
EdgePtr_t linkTo (const std::string& name, const NodePtr_t& to,
const Weight_t& w = 1,
const bool& isInNodeFrom = false,
+ EdgeFactory create = Edge::create)
+ HPP_MANIPULATION_DEPRECATED;
+
+ /// Create a link from this node to the given node.
+ /// \param w if strictly negative, the edge is not included in the neighbor
+ /// list. Otherwise, it is included with Weight_t w
+ EdgePtr_t linkTo (const std::string& name, const NodePtr_t& to,
+ const size_type& w = 1,
EdgeFactory create = Edge::create);
/// Check whether the configuration is in this state.
@@ -156,6 +165,7 @@ namespace hpp {
/// List of possible motions from this state (i.e. the outgoing
/// vertices).
Neighbors_t neighbors_;
+ std::vector <EdgePtr_t> hiddenNeighbors_;
/// Set of constraints to be statisfied.
typedef Cache < ConstraintSetPtr_t > Constraint_t;
diff --git a/src/graph/node.cc b/src/graph/node.cc
index c6e2429d..50932ea8 100644
--- a/src/graph/node.cc
+++ b/src/graph/node.cc
@@ -60,6 +60,15 @@ namespace hpp {
return newEdge;
}
+ EdgePtr_t Node::linkTo(const std::string& name, const NodePtr_t& to,
+ const size_type& w, EdgeFactory create)
+ {
+ EdgePtr_t newEdge = create(name, graph_, wkPtr_, to);
+ if (w >= 0) neighbors_.insert (newEdge, (Weight_t)w);
+ else hiddenNeighbors_.push_back (newEdge);
+ return newEdge;
+ }
+
bool Node::contains (ConfigurationIn_t config) const
{
return configConstraint()->isSatisfied (config);
--
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