diff --git a/CMakeLists.txt b/CMakeLists.txt
index bca6860a52e449e9b5bfeabe67eabee3461bd178..1d59f0020c8a1d8c7379806261d09bc117934edf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,6 +45,9 @@ SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/object.hh
include/hpp/manipulation/problem-solver.hh
include/hpp/manipulation/robot.hh
+ include/hpp/manipulation/graph/gripper-state.hh
+ include/hpp/manipulation/graph/gripper-transition.hh
+ include/hpp/manipulation/graph/gripper-state-selector.hh
)
# Add dependency toward hpp-model library in pkg-config file.
diff --git a/include/hpp/manipulation/graph/gripper-state-selector.hh b/include/hpp/manipulation/graph/gripper-state-selector.hh
new file mode 100644
index 0000000000000000000000000000000000000000..602a88dc5841d99e1e574598d8d039c240df269b
--- /dev/null
+++ b/include/hpp/manipulation/graph/gripper-state-selector.hh
@@ -0,0 +1,37 @@
+// Copyright (c) 2014, LAAS-CNRS
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-manipulation is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+#include "hpp/manipulation/fwd.hh"
+#include "hpp/manipulation/graph/gripper-state.hh"
+
+namespace hpp {
+ namespace manipulation {
+ namespace graph {
+ /// This class is used to get the state of a configuration. States have to
+ /// be ordered because a configuration can be in several states.
+ class HPP_MANIPULATION_DLLAPI GripperStateSelector
+ {
+ public:
+ /// Returns the state of a configuration.
+ virtual GripperState getState(const Configuration_t config) const;
+
+ private:
+ /// List of the states of one gripper, ordered by priority.
+ std::vector< GripperState > orderedStates_;
+ }
+ } // ----- End of namespace graph -----
+ } // ----- End of namespace manipulation -----
+} // ----- End of namespace hpp -----
diff --git a/include/hpp/manipulation/graph/gripper-state.hh b/include/hpp/manipulation/graph/gripper-state.hh
new file mode 100644
index 0000000000000000000000000000000000000000..9a23a6fca45986cad94074170c8c9364e2038087
--- /dev/null
+++ b/include/hpp/manipulation/graph/gripper-state.hh
@@ -0,0 +1,60 @@
+// Copyright (c) 2014, LAAS-CNRS
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-manipulation is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef HPP_MANIPULATION_GRAPH_GRIPPER_STATE_HH
+# define HPP_MANIPULATION_GRAPH_GRIPPER_STATE_HH
+
+#include <hpp/core/constraints-set.hh>
+
+#include "hpp/manipulation/fwd.hh"
+
+namespace hpp {
+ namespace manipulation {
+ namespace graph {
+ /// State of a gripper.
+ ///
+ /// Nodes of the graph of constraints. There is one
+ /// graph for each gripper.
+ class HPP_MANIPULATION_DLLAPI GripperState
+ {
+ public:
+ /// Check whether the configuration is in this state.
+ /// \return True if this state contains this configuration
+ /// \param config The configuration to be tested.
+ /// \note You should note use that to know in which states a
+ /// configuration is. This only checks if the configuration satisfies
+ /// the constraints. Instead, use the class GripperStateSelector.
+ virtual bool contains(const Configuration_t config) const;
+
+ protected:
+ typedef hpp::core::ConstraintSet ConstraintSet;
+
+ private:
+ /// List of possible motions from this state (i.e. the outgoing
+ /// vertices).
+ std::vector<GripperTransition*> neighbors_;
+
+ /// Set of constraints to be statisfied.
+ ConstraintSet* constraints_;
+
+ /// A selector that will implement the selection of the next state.
+ GripperStateSelector* selector_;
+ }; // class GripperState
+ } // namespace graph
+ } // namespace manipulation
+} // namespace hpp
+
+#endif // HPP_MANIPULATION_GRAPH_GRIPPER_STATE_HH
diff --git a/include/hpp/manipulation/graph/gripper-transition.hh b/include/hpp/manipulation/graph/gripper-transition.hh
new file mode 100644
index 0000000000000000000000000000000000000000..d49bfcf080b17d4ec8fc7550bc472152e3571814
--- /dev/null
+++ b/include/hpp/manipulation/graph/gripper-transition.hh
@@ -0,0 +1,67 @@
+// Copyright (c) 2014, LAAS-CNRS
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-manipulation is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef HPP_MANIPULATION_GRAPH_GRIPPER_TRANSITION_HH
+# define HPP_MANIPULATION_GRAPH_GRIPPER_TRANSITION_HH
+
+#include <hpp/core/constraints-set.hh>
+
+#include "hpp/manipulation/fwd.hh"
+#include "hpp/manipulation/graph/gripper-state.hh"
+
+namespace hpp {
+ namespace manipulation {
+ namespace graph {
+ /// Transition between states of a gripper.
+ ///
+ /// Vertices of the graph of constraints.
+ class HPP_MANIPULATION_DLLAPI GripperTransition
+ {
+ public:
+ /// Projector to project onto the same leaf as config.
+ /// \return The initialized projector.
+ /// \param config Configuration that will initialize the projector.
+ ConfigProjector* configurationProjector(model::Configuration_t config);
+
+ /// Projector to project a path.
+ /// \return The initialized projector.
+ /// \param config Configuration that will initialize the projector.
+ ConfigProjector* pathProjector(model::Configuration_t config);
+
+ protected:
+ typedef hpp::core::ConstraintSet ConstraintSet;
+ typedef hpp::core::ConfigProjector ConfigProjector;
+
+ private:
+ /// The two ends of the transition.
+ GripperState* startState, endState;
+
+ /// Set of constraints to be statisfied.
+ ConstraintSet* constraints_;
+
+ /// Projectors ensuring that a path between q_near and q_proj is
+ /// valid regarding the manipulation rules.
+ ConfigProjector* configurationProjector_;
+
+ /// Projectors ensuring that a path between two configurations in
+ /// the same leaf lies in the leaf.
+ ConfigProjector* pathProjector_;
+ }; // class GripperState
+ } // namespace graph
+ } // namespace manipulation
+} // namespace hpp
+
+#endif // HPP_MANIPULATION_GRAPH_GRIPPER_TRANSITION_HH