From 567d6e9471640e41d88b48242ff7419e6fe887a1 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 24 Aug 2015 17:01:11 +0200
Subject: [PATCH] Add Graph::nodeSelector
---
include/hpp/manipulation/graph/graph.hh | 6 ++++++
src/graph/graph.cc | 6 ++++++
2 files changed, 12 insertions(+)
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 7068dc76..d59bad99 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -52,6 +52,12 @@ namespace hpp {
/// Create and insert a NodeSelector inside the graph.
NodeSelectorPtr_t createNodeSelector (const std::string& name);
+ /// Set the nodeSelector
+ /// \warning This should be done before adding nodes to the node
+ /// selector otherwise the pointer to the parent graph will NOT be
+ /// valid.
+ void nodeSelector (NodeSelectorPtr_t ns);
+
/// Returns the states of a configuration.
NodePtr_t getNode (ConfigurationIn_t config) const;
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 3913979f..cbc2bc33 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -48,6 +48,12 @@ namespace hpp {
return nodeSelector_;
}
+ void Graph::nodeSelector (NodeSelectorPtr_t ns)
+ {
+ nodeSelector_ = ns;
+ nodeSelector_->parentGraph (wkPtr_);
+ }
+
void Graph::maxIterations (size_type iterations)
{
maxIterations_ = iterations;
--
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