Add static vector to retrieve GraphComponents

include/hpp/manipulation/graph/fwd.hh

@@ -27,6 +27,7 @@ namespace hpp {
       HPP_PREDEF_CLASS (Node);
       HPP_PREDEF_CLASS (Edge);
       HPP_PREDEF_CLASS (NodeSelector);
+      HPP_PREDEF_CLASS (GraphComponent);
       typedef boost::shared_ptr < Graph > GraphPtr_t;
       typedef boost::shared_ptr < Node > NodePtr_t;
       typedef boost::shared_ptr < Edge > EdgePtr_t;

include/hpp/manipulation/graph/graph.hh

@@ -45,8 +45,39 @@ namespace hpp {
             name_ = name;
           }
 
+          /// Keep track of the create components in order to retrieve them
+          /// easily.
+          static std::vector < GraphComponentWkPtr_t > components;
+
+          /// Get the component by its ID. The validity of the GraphComponent
+          /// is not checked.
+          static GraphComponentWkPtr_t get(int id)
+          {
+            HPP_ASSERT (id >= 0 && id < (int)components.size());
+            return components[id];
+          };
+
+          /// Return the component id.
+          int id () const
+          {
+            return id_;
+          }
+
+        protected:
+          void init (const GraphComponentWkPtr_t& weak)
+          {
+            wkPtr_ = weak;
+            components.push_back (wkPtr_);
+            id_ = components.size();
+          }
+
+          GraphComponent() : id_(-1)
+          {}
+
         private:
           std::string name_;
+          GraphComponentWkPtr_t wkPtr_;
+          int id_;
       };
 
 

src/graph/edge.cc

@@ -31,6 +31,7 @@ namespace hpp {
       void Edge::init (const EdgeWkPtr_t& weak, const NodeWkPtr_t& from,
           const NodeWkPtr_t& to, const ConstraintPtr_t& constraints)
       {
+        GraphComponent::init (weak);
         wkPtr_ = weak;
         from_ = from;
         to_ = to;

src/graph/graph.cc

@@ -22,6 +22,8 @@
 namespace hpp {
   namespace manipulation {
     namespace graph {
+      std::vector < GraphComponentWkPtr_t > GraphComponent::components = std::vector < GraphComponentWkPtr_t >();
+
       GraphPtr_t Graph::create(RobotPtr_t robot)
       {
         Graph* ptr = new Graph;
@@ -32,6 +34,7 @@ namespace hpp {
 
       void Graph::init (const GraphWkPtr_t& weak, RobotPtr_t robot)
       {
+        GraphComponent::init (weak);
         robot_ = robot;
         wkPtr_ = weak;
       }

src/graph/node-selector.cc

@@ -31,6 +31,7 @@ namespace hpp {
 
       void NodeSelector::init (const NodeSelectorPtr_t& weak)
       {
+        GraphComponent::init (weak);
         wkPtr_ = weak;
       }
 

src/graph/node.cc

@@ -37,6 +37,7 @@ namespace hpp {
 
       void Node::init (const NodeWkPtr_t& weak)
       {
+        GraphComponent::init (weak);
         wkPtr_ = weak;
       }