Edge can have negative weights in which case they are hidden

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;

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);