#include <hpp/manipulation/graph/state.hh>

Inheritance diagram for hpp::manipulation::graph::State:

Collaboration diagram for hpp::manipulation::graph::State:

Public Types
typedef std::function< EdgePtr_t(const std::string &, const GraphWkPtr_t &, const StateWkPtr_t &, const StateWkPtr_t &)>	EdgeFactory

Public Member Functions
	~State ()
	Destructor.
EdgePtr_t	linkTo (const std::string &name, const StatePtr_t &to, const size_type &w=1, EdgeFactory create=Edge::create)
virtual bool	contains (ConfigurationIn_t config) const
bool	isWaypoint () const
void	isWaypoint (bool isWaypoint)
StateSelectorWkPtr_t	stateSelector () const
	Get the parent StateSelector.
void	stateSelector (const StateSelectorWkPtr_t &parent)
	Set the StateSelector containing this state.
const Neighbors_t &	neighbors () const
	Get the neighbors.
Edges_t	neighborEdges () const
	Get the neighbors.
const Edges_t &	hiddenNeighbors () const
void	updateWeight (const EdgePtr_t &edge, const Weight_t &w)
	Set weight of edge starting from this state.
Weight_t	getWeight (const EdgePtr_t &edge)
	Get weight of edge starting from this state.
ConstraintSetPtr_t	configConstraint () const
	Constraint to project onto this state.
virtual void	addNumericalConstraint (const ImplicitPtr_t &numConstraint)
virtual void	addNumericalConstraintForPath (const ImplicitPtr_t &nm)
	Add a constraint for paths that lie in this state.
bool	insertNumericalConstraintsForPath (ConfigProjectorPtr_t &proj) const
const NumericalConstraints_t &	numericalConstraintsForPath () const
	Get a reference to the NumericalConstraints_t.
std::ostream &	dotPrint (std::ostream &os, dot::DrawingAttributes da=dot::DrawingAttributes()) const
	Print the object in a stream.
Public Member Functions inherited from hpp::manipulation::graph::GraphComponent
virtual	~GraphComponent ()
const std::string &	name () const
	Get the component name.
const std::size_t &	id () const
	Return the component id.
virtual void	addNumericalCost (const ImplicitPtr_t &numCost)
	Add a cost function Implicit to the component.
virtual void	resetNumericalConstraints ()
	Reset the numerical constraints stored in the component.
bool	insertNumericalConstraints (ConfigProjectorPtr_t &proj) const
const NumericalConstraints_t &	numericalConstraints () const
	Get a reference to the NumericalConstraints_t.
const NumericalConstraints_t &	numericalCosts () const
	Get a reference to the NumericalConstraints_t.
void	parentGraph (const GraphWkPtr_t &parent)
	Set the parent graph.
GraphPtr_t	parentGraph () const
	Set the parent graph.
virtual void	invalidate ()
void	solveLevelByLevel (bool solveLevelByLevel)
bool	solveLevelByLevel () const

Static Public Member Functions
static StatePtr_t	create (const std::string &name)
	Create a new state.

Protected Member Functions
void	init (const StateWkPtr_t &self)
	Initialize the object.
	State (const std::string &name)
	Constructor.
std::ostream &	print (std::ostream &os) const
	Print the object in a stream.
virtual void	populateTooltip (dot::Tooltip &tp) const
	Populate DrawingAttributes tooltip.
virtual void	initialize ()
Protected Member Functions inherited from hpp::manipulation::graph::GraphComponent
void	init (const GraphComponentWkPtr_t &weak)
	Initialize the component.
	GraphComponent (const std::string &name)
void	throwIfNotInitialized () const

Additional Inherited Members
Protected Attributes inherited from hpp::manipulation::graph::GraphComponent
NumericalConstraints_t	numericalConstraints_
	Stores the numerical constraints.
NumericalConstraints_t	numericalCosts_
	Stores the numerical costs.
GraphWkPtr_t	graph_
	A weak pointer to the parent graph.
bool	isInit_

Detailed Description

State of an end-effector.

States of the graph of constraints. There is one graph for each end-effector.

Member Typedef Documentation

◆ EdgeFactory

typedef std::function<EdgePtr_t(const std::string&, const GraphWkPtr_t&, const StateWkPtr_t&, const StateWkPtr_t&)> hpp::manipulation::graph::State::EdgeFactory

Constructor & Destructor Documentation

◆ ~State()

hpp::manipulation::graph::State::~State ( )

Destructor.

◆ State()

hpp::manipulation::graph::State::State ( const std::string & name )

protected

Constructor.

Member Function Documentation

◆ addNumericalConstraint()

virtual void hpp::manipulation::graph::State::addNumericalConstraint ( const ImplicitPtr_t & numConstraint )

virtual

Add constraint to the state Call the parent implementation.

Exceptions

std::logic_error if the constraint is parameterizable (contains at least one Equality comparison type).

Reimplemented from hpp::manipulation::graph::GraphComponent.

◆ addNumericalConstraintForPath()

virtual void hpp::manipulation::graph::State::addNumericalConstraintForPath ( const ImplicitPtr_t & nm )

inlinevirtual

Add a constraint for paths that lie in this state.

◆ configConstraint()

ConstraintSetPtr_t hpp::manipulation::graph::State::configConstraint ( ) const

inline

Constraint to project onto this state.

◆ contains()

virtual bool hpp::manipulation::graph::State::contains ( ConfigurationIn_t config ) const

virtual

Check whether the configuration is in this state.

return configConstraint()->isSatisfied (config);

hpp::manipulation::graph::State::configConstraint

ConstraintSetPtr_t configConstraint() const

Constraint to project onto this state.

Definition state.hh:111

Note: You should not use this method to know in which states a configuration is. This only checks if the configuration satisfies the constraints. Instead, use the class StateSelector.

◆ create()

StatePtr_t hpp::manipulation::graph::State::create ( const std::string & name )

static

Create a new state.

◆ dotPrint()

std::ostream & hpp::manipulation::graph::State::dotPrint	(	std::ostream &	os,
		dot::DrawingAttributes	da = dot::DrawingAttributes() ) const

virtual

Print the object in a stream.

Reimplemented from hpp::manipulation::graph::GraphComponent.

◆ getWeight()

Weight_t hpp::manipulation::graph::State::getWeight ( const EdgePtr_t & edge )

Get weight of edge starting from this state.

◆ hiddenNeighbors()

const Edges_t & hpp::manipulation::graph::State::hiddenNeighbors ( ) const

inline

Get the hidden neighbors It is a vector of transitions outgoing from this state and that are included in a waypoint edge.

◆ init()

void hpp::manipulation::graph::State::init ( const StateWkPtr_t & self )

protected

Initialize the object.

◆ initialize()

virtual void hpp::manipulation::graph::State::initialize ( )

protectedvirtual

Implements hpp::manipulation::graph::GraphComponent.

◆ insertNumericalConstraintsForPath()

bool hpp::manipulation::graph::State::insertNumericalConstraintsForPath ( ConfigProjectorPtr_t & proj ) const

inline

Insert the numerical constraints in a ConfigProjector

Returns: true is at least one ImplicitPtr_t was inserted.

◆ isWaypoint() [1/2]

bool hpp::manipulation::graph::State::isWaypoint ( ) const

inline

◆ isWaypoint() [2/2]

void hpp::manipulation::graph::State::isWaypoint ( bool isWaypoint )

inline

◆ linkTo()

EdgePtr_t hpp::manipulation::graph::State::linkTo	(	const std::string &	name,
		const StatePtr_t &	to,
		const size_type &	w = 1,
		EdgeFactory	create = Edge::create )

Create a link from this state to the given state.

Parameters

w	if strictly negative, the edge is not included in the neighbor list. Otherwise, it is included with Weight_t w

◆ neighborEdges()

Edges_t hpp::manipulation::graph::State::neighborEdges ( ) const

inline

Get the neighbors.

◆ neighbors()

const Neighbors_t & hpp::manipulation::graph::State::neighbors ( ) const

inline

Get the neighbors.

◆ numericalConstraintsForPath()

const NumericalConstraints_t & hpp::manipulation::graph::State::numericalConstraintsForPath ( ) const

inline

Get a reference to the NumericalConstraints_t.

◆ populateTooltip()

virtual void hpp::manipulation::graph::State::populateTooltip ( dot::Tooltip & tp ) const

protectedvirtual

Populate DrawingAttributes tooltip.

Reimplemented from hpp::manipulation::graph::GraphComponent.

◆ print()

std::ostream & hpp::manipulation::graph::State::print ( std::ostream & os ) const

protectedvirtual

Print the object in a stream.

Reimplemented from hpp::manipulation::graph::GraphComponent.

◆ stateSelector() [1/2]

StateSelectorWkPtr_t hpp::manipulation::graph::State::stateSelector ( ) const

inline

Get the parent StateSelector.

◆ stateSelector() [2/2]

void hpp::manipulation::graph::State::stateSelector ( const StateSelectorWkPtr_t & parent )

inline

Set the StateSelector containing this state.

◆ updateWeight()

void hpp::manipulation::graph::State::updateWeight	(	const EdgePtr_t &	edge,
		const Weight_t &	w )

Set weight of edge starting from this state.

The documentation for this class was generated from the following file:

include/hpp/manipulation/graph/state.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ EdgeFactory

Constructor & Destructor Documentation

◆ ~State()

◆ State()

Member Function Documentation

◆ addNumericalConstraint()

◆ addNumericalConstraintForPath()

◆ configConstraint()

◆ contains()

◆ create()

◆ dotPrint()

◆ getWeight()

◆ hiddenNeighbors()

◆ init()

◆ initialize()

◆ insertNumericalConstraintsForPath()

◆ isWaypoint() [1/2]

◆ isWaypoint() [2/2]

◆ linkTo()

◆ neighborEdges()

◆ neighbors()

◆ numericalConstraintsForPath()

◆ populateTooltip()

◆ print()

◆ stateSelector() [1/2]

◆ stateSelector() [2/2]

◆ updateWeight()