Add class RoadmapNode

CMakeLists.txt

@@ -62,6 +62,7 @@ SET (${PROJECT_NAME}_HEADERS
   include/hpp/manipulation/problem-solver.hh
   include/hpp/manipulation/device.hh
   include/hpp/manipulation/roadmap.hh
+  include/hpp/manipulation/roadmap-node.hh
   include/hpp/manipulation/manipulation-planner.hh
   include/hpp/manipulation/graph-path-validation.hh
   include/hpp/manipulation/graph-steering-method.hh

include/hpp/manipulation/fwd.hh

@@ -51,6 +51,8 @@ namespace hpp {
     typedef Problem* ProblemPtr_t;
     HPP_PREDEF_CLASS (Roadmap);
     typedef boost::shared_ptr <Roadmap> RoadmapPtr_t;
+    HPP_PREDEF_CLASS (RoadmapNode);
+    typedef RoadmapNode* RoadmapNodePtr_t;
     typedef constraints::RelativeOrientation RelativeOrientation;
     typedef constraints::RelativePosition RelativePosition;
     typedef constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t;

include/hpp/manipulation/roadmap-node.hh

+// Copyright (c) 2014 CNRS
+// Authors: Joseph Mirabel
+//
+//
+// 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_ROADMAP_NODE_HH
+# define HPP_MANIPULATION_ROADMAP_NODE_HH
+
+# include <hpp/manipulation/config.hh>
+
+# include <hpp/core/node.hh>
+# include <hpp/manipulation/fwd.hh>
+# include <hpp/manipulation/graph/fwd.hh>
+
+namespace hpp {
+  namespace manipulation {
+    class HPP_MANIPULATION_DLLAPI RoadmapNode : public core::Node
+    {
+      public:
+        enum CachingSystem {
+          /// The caching system is disabled. The graph::Node containing this
+          /// node can be obtained by checking the constraints.
+          CACHE_DISABLED,
+          /// The chaching system is enabled and up to date.
+          CACHE_UP_TO_DATE,
+          /// The chaching system is enabled but the cache is not up to date.
+          CACHE_NEED_UPDATE
+        };
+
+        static CachingSystem defaultCachingSystem;
+
+        RoadmapNode (const ConfigurationPtr_t& configuration) :
+          core::Node (configuration),
+          cacheSystem_ (defaultCachingSystem),
+          node_ ()
+        {}
+
+        RoadmapNode (const ConfigurationPtr_t& configuration,
+            ConnectedComponentPtr_t cc) :
+          core::Node (configuration, cc),
+          cacheSystem_ (defaultCachingSystem),
+          node_ ()
+        {}
+
+        CachingSystem cachingSystem () const
+        {
+          return cacheSystem_;
+        }
+
+        /// Getter for the graph::Node.
+        graph::NodePtr_t graphNode () const
+        {
+          return node_;
+        }
+
+        /// Setter for the graph::Node.
+        void graphNode (const graph::NodePtr_t& node)
+        {
+          if (cacheSystem_ != CACHE_DISABLED) cacheSystem_ = CACHE_UP_TO_DATE;
+          node_ = node;
+        }
+
+      private:
+        CachingSystem cacheSystem_;
+
+        graph::NodePtr_t node_;
+    };
+  } // namespace manipulation
+} // namespace hpp
+
+#endif // HPP_MANIPULATION_ROADMAP_NODE_HH

src/CMakeLists.txt

@@ -25,6 +25,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   manipulation-planner.cc
   problem-solver.cc
   roadmap.cc
+  roadmap-node.cc
   device.cc
   graph-path-validation.cc
   graph-steering-method.cc

src/roadmap-node.cc

+// Copyright (c) 2015, Joseph Mirabel
+// 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/roadmap-node.hh"
+
+namespace hpp {
+  namespace manipulation {
+    RoadmapNode::CachingSystem RoadmapNode::defaultCachingSystem = RoadmapNode::CACHE_DISABLED;
+  } // namespace manipulation
+} // namespace hpp