From f21885c36ebe03cf0daff8a6db1304ee4911a107 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 7 Oct 2015 10:36:01 +0200
Subject: [PATCH] Make Egdge::configConstraint public and add
GraphComponent::parentGraph
---
include/hpp/manipulation/graph/edge.hh | 8 ++++----
include/hpp/manipulation/graph/graph-component.hh | 3 +++
src/graph/graph-component.cc | 5 +++++
3 files changed, 12 insertions(+), 4 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index ad53938..06b1855 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -102,6 +102,10 @@ 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.
+ ConstraintSetPtr_t configConstraint() const;
+
protected:
/// Initialization of the object.
void init (const EdgeWkPtr_t& weak, const GraphWkPtr_t& graph, const NodeWkPtr_t& from,
@@ -111,10 +115,6 @@ namespace hpp {
Edge (const std::string& name,
const core::SteeringMethodPtr_t& steeringMethod);
- /// Constraint to project onto the same leaf as config.
- /// \return The initialized projector.
- ConstraintSetPtr_t configConstraint() const;
-
/// Constraint to project a path.
/// \return The initialized constraint.
ConstraintSetPtr_t pathConstraint() const;
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 4e6d907..9a5a373 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -91,6 +91,9 @@ namespace hpp {
/// Set the parent graph.
void parentGraph(const GraphWkPtr_t& parent);
+ /// Set the parent graph.
+ GraphPtr_t parentGraph() const;
+
/// Print the component in DOT language.
virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 405462f..b7b92cd 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -117,6 +117,11 @@ namespace hpp {
return lockedJoints_;
}
+ GraphPtr_t GraphComponent::parentGraph() const
+ {
+ return graph_.lock ();
+ }
+
void GraphComponent::parentGraph(const GraphWkPtr_t& parent)
{
graph_ = parent;
--
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