Add graph header files.

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.

include/hpp/manipulation/graph/gripper-state-selector.hh

+// 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  -----

include/hpp/manipulation/graph/gripper-state.hh

+// 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

include/hpp/manipulation/graph/gripper-transition.hh

+// 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