From e46347d4409eff982fdc3b1ccfaaa99f1acddfbb Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 22 Jul 2014 10:24:05 +0200
Subject: [PATCH] Add static vector to retrieve GraphComponents
---
include/hpp/manipulation/graph/fwd.hh | 1 +
include/hpp/manipulation/graph/graph.hh | 31 +++++++++++++++++++++++++
src/graph/edge.cc | 1 +
src/graph/graph.cc | 3 +++
src/graph/node-selector.cc | 1 +
src/graph/node.cc | 1 +
6 files changed, 38 insertions(+)
diff --git a/include/hpp/manipulation/graph/fwd.hh b/include/hpp/manipulation/graph/fwd.hh
index 0dd47547..719e7d3b 100644
--- a/include/hpp/manipulation/graph/fwd.hh
+++ b/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;
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 047d281d..ef6abc44 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/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_;
};
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index eb31d71d..2f0e8fb3 100644
--- a/src/graph/edge.cc
+++ b/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;
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 1ac73fc2..e56b582e 100644
--- a/src/graph/graph.cc
+++ b/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;
}
diff --git a/src/graph/node-selector.cc b/src/graph/node-selector.cc
index 17cff49a..be1efc01 100644
--- a/src/graph/node-selector.cc
+++ b/src/graph/node-selector.cc
@@ -31,6 +31,7 @@ namespace hpp {
void NodeSelector::init (const NodeSelectorPtr_t& weak)
{
+ GraphComponent::init (weak);
wkPtr_ = weak;
}
diff --git a/src/graph/node.cc b/src/graph/node.cc
index ad0ebd53..2a9bd205 100644
--- a/src/graph/node.cc
+++ b/src/graph/node.cc
@@ -37,6 +37,7 @@ namespace hpp {
void Node::init (const NodeWkPtr_t& weak)
{
+ GraphComponent::init (weak);
wkPtr_ = weak;
}
--
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