From e59f37d2457f5e4f5f00a4ae99be4f8428039aa3 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 31 Mar 2020 12:06:58 +0200
Subject: [PATCH] [LevelSetEdge] Add read access to condition parameterization
constraints.
---
include/hpp/manipulation/graph/edge.hh | 9 ++++++++-
src/graph/edge.cc | 10 ++++++++++
2 files changed, 18 insertions(+), 1 deletion(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index d69dcd02..c00f49ad 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -532,7 +532,8 @@ namespace hpp {
/// The condition constraints should therefore be the constraints of
/// the target state of the level set edge.
///
- /// \sa LevelSetEdge::insertConditionConstraint
+ /// \sa LevelSetEdge::conditionConstraints
+ /// LevelSetEdge::insertConditionConstraint
LeafHistogramPtr_t histogram () const;
/// \name Foliation definition
@@ -545,11 +546,17 @@ namespace hpp {
void insertParamConstraint (const ImplicitPtr_t& nm,
const segments_t& passiveDofs = segments_t ());
+ /// Get constraints parameterizing the target state foliation
+ const NumericalConstraints_t& paramConstraints() const;
+
/// Insert a condition constraint
/// \sa LevelSetEdge::histogram
void insertConditionConstraint (const ImplicitPtr_t& nm,
const segments_t& passiveDofs = segments_t ());
+ /// Get constraints parameterizing the target state foliation
+ /// \sa LevelSetEdge::histogram
+ const NumericalConstraints_t& conditionConstraints() const;
/// \}
/// Print the object in a stream.
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index d59e75be..45b90fca 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -822,6 +822,11 @@ namespace hpp {
paramPassiveDofs_.push_back (passiveDofs);
}
+ const NumericalConstraints_t& LevelSetEdge::paramConstraints() const
+ {
+ return paramNumericalConstraints_;
+ }
+
void LevelSetEdge::insertConditionConstraint
(const constraints::ImplicitPtr_t& nm,
const segments_t& passiveDofs)
@@ -831,6 +836,11 @@ namespace hpp {
condPassiveDofs_.push_back (passiveDofs);
}
+ const NumericalConstraints_t& LevelSetEdge::conditionConstraints() const
+ {
+ return condNumericalConstraints_;
+ }
+
LevelSetEdge::LevelSetEdge
(const std::string& name) :
Edge (name)
--
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