diff --git a/CMakeLists.txt b/CMakeLists.txt
index 16e200e69c7715510f167b89f2d2ef80669df3c3..31ad63123cd7ec377642c3d401bcd3416a269f22 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -59,7 +59,6 @@ CONFIGURE_FILE (${CMAKE_SOURCE_DIR}/doc/main.hh.in
SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/fwd.hh
- include/hpp/manipulation/container.hh
include/hpp/manipulation/axial-handle.hh
include/hpp/manipulation/handle.hh
include/hpp/manipulation/problem.hh
diff --git a/include/hpp/manipulation/container.hh b/include/hpp/manipulation/container.hh
deleted file mode 100644
index 97c83448ae54ac356910cd4581740bdc55c5231f..0000000000000000000000000000000000000000
--- a/include/hpp/manipulation/container.hh
+++ /dev/null
@@ -1,108 +0,0 @@
-// Copyright (c) 2015, 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_CONTAINER_HH
-# define HPP_MANIPULATION_CONTAINER_HH
-
-# include <map>
-# include <list>
-# include <boost/smart_ptr/shared_ptr.hpp>
-
-namespace hpp {
- namespace manipulation {
- template < typename Element, typename Key = std::string>
- class HPP_MANIPULATION_DLLAPI Container
- {
- public:
- typedef std::map <Key, Element> ElementMap_t;
- typedef Key Key_t;
- typedef Element Element_t;
-
- /// Add an element
- void add (const Key& name, const Element& element)
- {
- map_[name] = element;
- }
-
- /// Return the element named name
- const Element& get (const Key& name) const
- {
- typename ElementMap_t::const_iterator it = map_.find (name);
- if (it == map_.end ()) return default_;
- return it->second;
- }
-
- /// Return a list of all elements
- /// \tparam ReturnType must have a push_back method.
- template <typename ReturnType>
- ReturnType getAllAs () const
- {
- ReturnType l;
- for (typename ElementMap_t::const_iterator it = map_.begin ();
- it != map_.end (); ++it)
- l.push_back (it->second);
- return l;
- }
-
- template <typename ReturnType>
- ReturnType getKeys () const
- {
- ReturnType l;
- for (typename ElementMap_t::const_iterator it = map_.cbegin ();
- it != map_.cend (); ++it)
- l.push_back (it->first);
- return l;
- }
-
- /// Return the underlying map.
- const ElementMap_t& getAll () const
- {
- return map_;
- }
-
- /// Print object in a stream
- std::ostream& print (std::ostream& os) const
- {
- for (typename ElementMap_t::const_iterator it = map_.begin ();
- it != map_.end (); ++it) {
- os << it->first << " : " << it->second << std::endl;
- }
- return os;
- }
-
- /// Print object in a stream
- std::ostream& printPointer (std::ostream& os) const
- {
- for (typename ElementMap_t::const_iterator it = map_.begin ();
- it != map_.end (); ++it) {
- os << it->first << " : " << *(it->second) << std::endl;
- }
- return os;
- }
-
- protected:
- /// Constructor
- Container () : map_ ()
- {}
-
- private:
- ElementMap_t map_;
- /// Element returned by method get when key does not belong to map.
- Element default_;
- }; // class Container
- } // namespace manipulation
-} // namespace hpp
-#endif // HPP_MANIPULATION_CONTAINER_HH
diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index ddde20a5905cf951ca29214eba3a72b3062b81fd..6a7a7c02625e4322bc869c0d49ec81a551bf572c 100644
--- a/include/hpp/manipulation/device.hh
+++ b/include/hpp/manipulation/device.hh
@@ -21,10 +21,10 @@
# define HPP_MANIPULATION_DEVICE_HH
# include <hpp/model/humanoid-robot.hh>
+# include <hpp/core/container.hh>
# include "hpp/manipulation/fwd.hh"
# include "hpp/manipulation/config.hh"
-# include "hpp/manipulation/container.hh"
namespace hpp {
namespace manipulation {
@@ -35,8 +35,9 @@ namespace hpp {
///
/// This class also contains model::Gripper, Handle and \ref JointAndTriangles_t
class HPP_MANIPULATION_DLLAPI Device : public model::HumanoidRobot,
- public Container <HandlePtr_t>, public Container <model::GripperPtr_t>,
- public Container <JointAndShapes_t>
+ public core::Container <HandlePtr_t>,
+ public core::Container <model::GripperPtr_t>,
+ public core::Container <JointAndShapes_t>
{
public:
typedef model::HumanoidRobot Parent_t;
@@ -63,21 +64,21 @@ namespace hpp {
template <typename Element>
const Element& get (const std::string& name) const
{
- return Container <Element>::get (name);
+ return core::Container <Element>::get (name);
}
/// Get the underlying map of a container
template <typename Element>
- const typename Container<Element>::ElementMap_t& getAll () const
+ const typename core::Container<Element>::ElementMap_t& getAll () const
{
- return Container <Element>::getAll ();
+ return core::Container <Element>::getAll ();
}
/// Add an element to a container
template <typename Element>
void add (const std::string& name, const Element& element)
{
- Container <Element>::add (name, element);
+ core::Container <Element>::add (name, element);
}
/// \}
diff --git a/include/hpp/manipulation/graph-optimizer.hh b/include/hpp/manipulation/graph-optimizer.hh
index bd2456dc6db65f738cdd99b0ac53a4f03c5bb578..13514642a30783c2f45a051b327ac50bc039db73 100644
--- a/include/hpp/manipulation/graph-optimizer.hh
+++ b/include/hpp/manipulation/graph-optimizer.hh
@@ -47,7 +47,7 @@ namespace hpp {
class HPP_MANIPULATION_DLLAPI GraphOptimizer : public PathOptimizer
{
public:
- typedef core::ProblemSolver::PathOptimizerBuilder_t PathOptimizerBuilder_t;
+ typedef core::PathOptimizerBuilder_t PathOptimizerBuilder_t;
template <typename TraitsOrInnerType>
static GraphOptimizerPtr_t create (const core::Problem& problem);
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index db2e558f77382fc3f5d27bfee3d45881df916283..fe97d859ba4a7c5c123dc3ef999aed7d3ef74e00 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -21,16 +21,18 @@
# include <map>
# include <hpp/model/device.hh>
# include <hpp/core/problem-solver.hh>
+# include <hpp/core/container.hh>
# include "hpp/manipulation/fwd.hh"
# include "hpp/manipulation/deprecated.hh"
# include "hpp/manipulation/device.hh"
-# include "hpp/manipulation/container.hh"
# include "hpp/manipulation/graph/fwd.hh"
namespace hpp {
namespace manipulation {
- class HPP_MANIPULATION_DLLAPI ProblemSolver : public core::ProblemSolver,
- public Container <LockedJointPtr_t>, public Container <JointAndShapes_t>
+ class HPP_MANIPULATION_DLLAPI ProblemSolver :
+ public core::ProblemSolver,
+ public core::Container <LockedJointPtr_t>,
+ public core::Container <JointAndShapes_t>
{
public:
typedef core::ProblemSolver parent_t;
@@ -143,7 +145,7 @@ namespace hpp {
/// Get the underlying map of a container
template <typename Element>
- const typename Container<Element>::ElementMap_t& getAll () const
+ const typename core::Container<Element>::ElementMap_t& getAll () const
{
return Container <Element>::getAll ();
}
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 359e0a07b9edc28c904901ea71d6f483549b4e25..9a9ed0de25122f3967e886856cdee4211c65adad 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -68,21 +68,24 @@ namespace hpp {
ProblemSolver::ProblemSolver () :
core::ProblemSolver (), robot_ (), problem_ (0x0), graspsMap_()
{
- addPathPlannerType ("M-RRT", ManipulationPlanner::create);
- addPathValidationType ("Graph-Discretized",
+ add <core::PathPlannerBuilder_t> ("M-RRT", ManipulationPlanner::create);
+ using core::PathValidationBuilder_t;
+ add <PathValidationBuilder_t> ("Graph-Discretized",
GraphPathValidation::create <core::DiscretizedCollisionChecking>);
- addPathValidationType ("Graph-Progressive", GraphPathValidation::create <
+ add <PathValidationBuilder_t> ("Graph-Progressive",
+ GraphPathValidation::create <
core::continuousCollisionChecking::Progressive >);
- addPathOptimizerType ("Graph-RandomShortcut",
+ using core::PathOptimizerBuilder_t;
+ add <PathOptimizerBuilder_t> ("Graph-RandomShortcut",
GraphOptimizer::create <core::RandomShortcut>);
- addPathOptimizerType ("PartialShortcut", core::pathOptimization::
+ add <PathOptimizerBuilder_t> ("PartialShortcut", core::pathOptimization::
PartialShortcut::createWithTraits <PartialShortcutTraits>);
- addPathOptimizerType ("Graph-PartialShortcut",
+ add <PathOptimizerBuilder_t> ("Graph-PartialShortcut",
GraphOptimizer::create <core::pathOptimization::PartialShortcut>);
- addPathOptimizerType ("ConfigOptimization",
+ add <PathOptimizerBuilder_t> ("ConfigOptimization",
core::pathOptimization::ConfigOptimization::createWithTraits
<pathOptimization::ConfigOptimizationTraits>);
- addPathOptimizerType ("Graph-ConfigOptimization",
+ add <PathOptimizerBuilder_t> ("Graph-ConfigOptimization",
GraphOptimizer::create <
GraphConfigOptimizationTraits
<pathOptimization::ConfigOptimizationTraits>