From 8be2f91baf9a0933d8e9d8445cf507da6125eb11 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 10 Dec 2020 09:07:16 +0100
Subject: [PATCH] Rename methods in Roadmap to avoid masking parent class
methods.
---
include/hpp/manipulation/roadmap.hh | 4 ++--
src/connected-component.cc | 13 +++----------
src/manipulation-planner.cc | 2 +-
src/roadmap.cc | 6 +++---
4 files changed, 9 insertions(+), 16 deletions(-)
diff --git a/include/hpp/manipulation/roadmap.hh b/include/hpp/manipulation/roadmap.hh
index de1aa61..2842f54 100644
--- a/include/hpp/manipulation/roadmap.hh
+++ b/include/hpp/manipulation/roadmap.hh
@@ -55,7 +55,7 @@ namespace hpp {
/// Get the nearest neighbor in a given graph::Node and in a given
/// ConnectedComponent.
- RoadmapNodePtr_t nearestNode (const ConfigurationPtr_t& configuration,
+ RoadmapNodePtr_t nearestNodeInState (const ConfigurationPtr_t& configuration,
const ConnectedComponentPtr_t& connectedComponent,
const graph::StatePtr_t& state,
value_type& minDistance) const;
@@ -105,7 +105,7 @@ namespace hpp {
weak_ = shPtr;
}
- virtual void addEdge (const core::EdgePtr_t& edge);
+ virtual void impl_addEdge (const core::EdgePtr_t& edge);
private:
typedef graph::Histograms_t Histograms_t;
diff --git a/src/connected-component.cc b/src/connected-component.cc
index 289dc7a..ce7e0fd 100644
--- a/src/connected-component.cc
+++ b/src/connected-component.cc
@@ -83,16 +83,9 @@ namespace hpp {
core::ConnectedComponent::addNode(node);
// Find right graph state in map and add roadmap node to corresponding vector
const RoadmapNodePtr_t& n = static_cast <const RoadmapNodePtr_t> (node);
- GraphStates_t::iterator mapIt = graphStateMap_.find(roadmap_->getState(n));
- if (mapIt != graphStateMap_.end()) {
- mapIt->second.push_back(n);
- // if graph state not found, add new map element with one roadmap node
- } else {
- RoadmapNodes_t newRoadmapNodeVector;
- newRoadmapNodeVector.push_back(n);
- graphStateMap_.insert(std::pair<graph::StatePtr_t, RoadmapNodes_t>
- (roadmap_->getState(n), newRoadmapNodeVector));
- }
+ RoadmapPtr_t roadmap = roadmap_.lock();
+ if (!roadmap) throw std::logic_error("The roadmap of this ConnectedComponent as been deleted.");
+ graphStateMap_[roadmap->getState(n)].push_back(n);
assert (check ());
}
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 3e13a38..383cf7d 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -184,7 +184,7 @@ namespace hpp {
core::value_type distance;
for (itState = graphStates.begin (); itState != graphStates.end (); ++itState) {
HPP_START_TIMECOUNTER(nearestNeighbor);
- RoadmapNodePtr_t near = roadmap_->nearestNode (q_rand, HPP_STATIC_PTR_CAST(ConnectedComponent,*itcc), *itState, distance);
+ RoadmapNodePtr_t near = roadmap_->nearestNodeInState (q_rand, HPP_STATIC_PTR_CAST(ConnectedComponent,*itcc), *itState, distance);
HPP_STOP_TIMECOUNTER(nearestNeighbor);
HPP_DISPLAY_LAST_TIMECOUNTER(nearestNeighbor);
if (!near) continue;
diff --git a/src/roadmap.cc b/src/roadmap.cc
index 175fa74..029dac5 100644
--- a/src/roadmap.cc
+++ b/src/roadmap.cc
@@ -91,7 +91,7 @@ namespace hpp {
// graph->histograms() and this class will not know it.
}
- RoadmapNodePtr_t Roadmap::nearestNode (const ConfigurationPtr_t& configuration,
+ RoadmapNodePtr_t Roadmap::nearestNodeInState (const ConfigurationPtr_t& configuration,
const ConnectedComponentPtr_t& connectedComponent,
const graph::StatePtr_t& state,
value_type& minDistance) const
@@ -159,9 +159,9 @@ namespace hpp {
}
}
- void Roadmap::addEdge (const core::EdgePtr_t& edge)
+ void Roadmap::impl_addEdge (const core::EdgePtr_t& edge)
{
- Parent::addEdge(edge);
+ Parent::impl_addEdge(edge);
const RoadmapNodePtr_t& f = static_cast <const RoadmapNodePtr_t> (edge->from());
const RoadmapNodePtr_t& t = static_cast <const RoadmapNodePtr_t> (edge->to());
if (f->graphState () == t->graphState ()) {
--
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