From 31d9fc92f1bb4d911bc066d84e0c585622d44b51 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 19 May 2016 13:52:16 +0200
Subject: [PATCH] Enhance Edge documentation.
---
include/hpp/manipulation/graph/edge.hh | 46 +++++++++++++++++++++++---
1 file changed, 42 insertions(+), 4 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index e4bb54a..1c3fc28 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -58,7 +58,31 @@ namespace hpp {
/// \addtogroup constraint_graph
/// \{
- /// Abstract class representing representing the link between two nodes.
+ /// Transition between two nodes of a constraint graph
+ ///
+ /// An edge stores two types of constraints.
+
+ /// \li <b> Path constraints </b> should be safisfied by paths belonging
+ /// to the edge. Along any path, the right hand side of the
+ /// constraint is constant, but can differ between paths. For
+ /// instance if an edge represents a transit path of a robot
+ /// that can grasp an object, the right hand side of the
+ /// constraint represents the position of the object. Along any
+ /// transit path, the object does not move, but for different paths
+ /// the object can be at different positions.
+ /// \sa method pathConstraint.
+ /// \li <b> Configuration constraints </b> are constraints that
+ /// configurations in the destination node should satisfy and
+ /// the constraints that paths should satisfy. For instance, if
+ /// the edge links a node where the robot does not hold the
+ /// object to a node where the robot holds the object, the
+ /// configuration constraints represent a fixed relative
+ /// position of the object with respect to the gripper and a
+ /// stable position of the object. Configuration constraints
+ /// are necessary to generate a configuration in the start node
+ /// of the edge that can reach a given configuration in the
+ /// destination node by an admissible path. \sa methods
+ /// configConstraint, canConnect, applyConstraints.
class HPP_MANIPULATION_DLLAPI Edge : public GraphComponent
{
public:
@@ -74,8 +98,23 @@ namespace hpp {
const NodeWkPtr_t& from,
const NodeWkPtr_t& to);
+ /// Apply edge constraint
+ ///
+ /// \param nnear node containing the configuration defining the right
+ /// hand side of the edge constraint,
+ /// \param[in,out] q configuration to which the edge constraint is
+ /// applied.
+ ///
+ /// \sa hpp::core::ConfigProjector::rightHandSideFromConfig
virtual bool applyConstraints (core::NodePtr_t nnear, ConfigurationOut_t q) const;
-
+ /// Apply edge constraint
+ ///
+ /// \param qoffset configuration defining the right hand side of the
+ /// edge constraint,
+ /// \param[in,out] q configuration to which the edge constraint is
+ /// applied.
+ ///
+ /// \sa hpp::core::ConfigProjector::rightHandSideFromConfig
virtual bool applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const;
virtual bool canConnect (ConfigurationIn_t q1, ConfigurationIn_t q2) const;
@@ -142,8 +181,7 @@ namespace hpp {
/// Print the object in a stream.
virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
- /// Constraint to project onto the same leaf as config.
- /// \return The initialized projector.
+ /// Constraint of the destination node and of the path
ConstraintSetPtr_t configConstraint() const;
void setShort (bool isShort) {
--
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