From de15cf2892cdc42b0b270051c1de3680c56521d4 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 5 Jan 2018 15:28:41 +0100
Subject: [PATCH] Split GraphSteeringMethod in two class
---
include/hpp/manipulation/fwd.hh | 2 +
.../hpp/manipulation/graph-steering-method.hh | 48 ++++++++++++-------
include/hpp/manipulation/problem.hh | 2 +-
src/graph-steering-method.cc | 18 +++++--
src/problem.cc | 4 +-
5 files changed, 51 insertions(+), 23 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index e35e1055..5b846cb5 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -86,7 +86,9 @@ namespace hpp {
typedef boost::shared_ptr < SymbolicPlanner > SymbolicPlannerPtr_t;
HPP_PREDEF_CLASS (GraphPathValidation);
typedef boost::shared_ptr < GraphPathValidation > GraphPathValidationPtr_t;
+ HPP_PREDEF_CLASS (SteeringMethod);
HPP_PREDEF_CLASS (GraphSteeringMethod);
+ typedef boost::shared_ptr < SteeringMethod > SteeringMethodPtr_t;
typedef boost::shared_ptr < GraphSteeringMethod > GraphSteeringMethodPtr_t;
typedef core::PathOptimizer PathOptimizer;
typedef core::PathOptimizerPtr_t PathOptimizerPtr_t;
diff --git a/include/hpp/manipulation/graph-steering-method.hh b/include/hpp/manipulation/graph-steering-method.hh
index 42d96c6b..d21d7a46 100644
--- a/include/hpp/manipulation/graph-steering-method.hh
+++ b/include/hpp/manipulation/graph-steering-method.hh
@@ -27,11 +27,41 @@
namespace hpp {
namespace manipulation {
- using core::SteeringMethod;
using core::PathPtr_t;
/// \addtogroup steering_method
/// \{
+ class HPP_MANIPULATION_DLLAPI SteeringMethod : public core::SteeringMethod
+ {
+ public:
+ const core::SteeringMethodPtr_t& innerSteeringMethod () const
+ {
+ return steeringMethod_;
+ }
+
+ void innerSteeringMethod (const core::SteeringMethodPtr_t& sm)
+ {
+ steeringMethod_ = sm;
+ }
+
+ protected:
+ /// Constructor
+ SteeringMethod (const Problem& problem);
+
+ /// Copy constructor
+ SteeringMethod (const SteeringMethod& other);
+
+ void init (SteeringMethodWkPtr_t weak)
+ {
+ core::SteeringMethod::init (weak);
+ }
+
+ /// A pointer to the manipulation problem
+ const Problem& problem_;
+ /// The encapsulated steering method
+ core::SteeringMethodPtr_t steeringMethod_;
+ };
+
class HPP_MANIPULATION_DLLAPI GraphSteeringMethod : public SteeringMethod
{
typedef core::SteeringMethodBuilder_t SteeringMethodBuilder_t;
@@ -59,16 +89,6 @@ namespace hpp {
return createCopy (weak_.lock ());
}
- const core::SteeringMethodPtr_t& innerSteeringMethod () const
- {
- return steeringMethod_;
- }
-
- void innerSteeringMethod (const core::SteeringMethodPtr_t& sm)
- {
- steeringMethod_ = sm;
- }
-
protected:
/// Constructor
GraphSteeringMethod (const Problem& problem);
@@ -80,17 +100,13 @@ namespace hpp {
void init (GraphSteeringMethodWkPtr_t weak)
{
- core::SteeringMethod::init (weak);
+ SteeringMethod::init (weak);
weak_ = weak;
}
private:
- /// A pointer to the problem
- const Problem& problem_;
/// Weak pointer to itself
GraphSteeringMethodWkPtr_t weak_;
- /// The encapsulated steering method
- core::SteeringMethodPtr_t steeringMethod_;
};
template <typename T>
diff --git a/include/hpp/manipulation/problem.hh b/include/hpp/manipulation/problem.hh
index 6b4b05ef..c7c318b5 100644
--- a/include/hpp/manipulation/problem.hh
+++ b/include/hpp/manipulation/problem.hh
@@ -64,7 +64,7 @@ namespace hpp {
void pathValidation (const PathValidationPtr_t& pathValidation);
/// Get the steering method as a GraphSteeringMethod
- GraphSteeringMethodPtr_t steeringMethod () const;
+ SteeringMethodPtr_t steeringMethod () const;
/// Build a new path validation
/// \note Current obstacles are added to the created object.
diff --git a/src/graph-steering-method.cc b/src/graph-steering-method.cc
index f6f11bea..44638881 100644
--- a/src/graph-steering-method.cc
+++ b/src/graph-steering-method.cc
@@ -27,6 +27,18 @@
namespace hpp {
namespace manipulation {
+ SteeringMethod::SteeringMethod (const Problem& problem) :
+ core::SteeringMethod (problem), problem_ (problem),
+ steeringMethod_ (core::SteeringMethodStraight::create (problem))
+ {
+ }
+
+ SteeringMethod::SteeringMethod (const SteeringMethod& other):
+ core::SteeringMethod (other), problem_ (other.problem_), steeringMethod_
+ (other.steeringMethod_)
+ {
+ }
+
GraphSteeringMethodPtr_t GraphSteeringMethod::create
(const core::Problem& problem)
{
@@ -54,14 +66,12 @@ namespace hpp {
}
GraphSteeringMethod::GraphSteeringMethod (const Problem& problem) :
- SteeringMethod (problem), problem_ (problem), weak_ (),
- steeringMethod_ (core::SteeringMethodStraight::create (problem))
+ SteeringMethod (problem), weak_ ()
{
}
GraphSteeringMethod::GraphSteeringMethod (const GraphSteeringMethod& other):
- SteeringMethod (other), problem_ (other.problem_), steeringMethod_
- (other.steeringMethod_)
+ SteeringMethod (other)
{
}
diff --git a/src/problem.cc b/src/problem.cc
index 4658f6bb..78a1b72c 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -68,9 +68,9 @@ namespace hpp {
return pv;
}
- GraphSteeringMethodPtr_t Problem::steeringMethod () const
+ SteeringMethodPtr_t Problem::steeringMethod () const
{
- return HPP_DYNAMIC_PTR_CAST (GraphSteeringMethod,
+ return HPP_DYNAMIC_PTR_CAST (SteeringMethod,
Parent::steeringMethod());
}
} // namespace manipulation
--
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