From 8c4738f282423873794657e2fe8c0913c78d7ae6 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 9 May 2018 17:31:35 +0200
Subject: [PATCH] Rename methods
- RoadmapNode::symbolicComponent -> RoadmapNode::leafConnectedComponent,
- Roadmap::symbolicComponents -> Roadmap::leafConnectedComponents.
- rename private member Roadmap::symbolicCCs_ -> leafCCs_,
- rename private member RoadmapNode::symbolicCC_ -> leafCC_.
---
include/hpp/manipulation/roadmap-node.hh | 10 +++++-----
include/hpp/manipulation/roadmap.hh | 12 ++++++++----
src/leaf-connected-comp.cc | 2 +-
src/roadmap.cc | 14 +++++++-------
src/symbolic-planner.cc | 8 ++++----
5 files changed, 25 insertions(+), 21 deletions(-)
diff --git a/include/hpp/manipulation/roadmap-node.hh b/include/hpp/manipulation/roadmap-node.hh
index e55a92b3..422da08d 100644
--- a/include/hpp/manipulation/roadmap-node.hh
+++ b/include/hpp/manipulation/roadmap-node.hh
@@ -92,21 +92,21 @@ namespace hpp {
}
/// \}
- void symbolicComponent (const LeafConnectedCompPtr_t& sc)
+ void leafConnectedComponent (const LeafConnectedCompPtr_t& sc)
{
- symbolicCC_ = sc;
+ leafCC_ = sc;
}
- LeafConnectedCompPtr_t symbolicComponent () const
+ LeafConnectedCompPtr_t leafConnectedComponent () const
{
- return symbolicCC_;
+ return leafCC_;
}
private:
CachingSystem cacheSystem_;
graph::StateWkPtr_t state_;
- LeafConnectedCompPtr_t symbolicCC_;
+ LeafConnectedCompPtr_t leafCC_;
};
} // namespace manipulation
} // namespace hpp
diff --git a/include/hpp/manipulation/roadmap.hh b/include/hpp/manipulation/roadmap.hh
index 56de8879..abe2aa81 100644
--- a/include/hpp/manipulation/roadmap.hh
+++ b/include/hpp/manipulation/roadmap.hh
@@ -66,10 +66,14 @@ namespace hpp {
/// Get graph state corresponding to given roadmap node
graph::StatePtr_t getState(RoadmapNodePtr_t node);
- /// Get the symbolic components
- const LeafConnectedComps_t& symbolicComponents () const
+ /// Get leaf connected components
+ ///
+ /// Leaf connected components are composed of nodes
+ /// \li belonging to the same connected component of the roadmap and,
+ /// \li lying in the same leaf of a transition.
+ const LeafConnectedComps_t& leafConnectedComponents () const
{
- return symbolicCCs_;
+ return leafCCs_;
}
protected:
@@ -97,7 +101,7 @@ namespace hpp {
Histograms_t histograms_;
graph::GraphPtr_t graph_;
RoadmapWkPtr_t weak_;
- LeafConnectedComps_t symbolicCCs_;
+ LeafConnectedComps_t leafCCs_;
};
/// \}
} // namespace manipulation
diff --git a/src/leaf-connected-comp.cc b/src/leaf-connected-comp.cc
index e7204bc8..bbf5fd56 100644
--- a/src/leaf-connected-comp.cc
+++ b/src/leaf-connected-comp.cc
@@ -74,7 +74,7 @@ namespace hpp {
// Tell other's nodes that they now belong to this connected component
for (RoadmapNodes_t::iterator itNode = other->nodes_.begin ();
itNode != other->nodes_.end (); ++itNode) {
- (*itNode)->symbolicComponent (weak_.lock ());
+ (*itNode)->leafConnectedComponent (weak_.lock ());
}
// Add other's nodes to this list.
nodes_.insert (nodes_.end (), other->nodes_.begin(), other->nodes_.end());
diff --git a/src/roadmap.cc b/src/roadmap.cc
index 28e67f5a..cfec8b77 100644
--- a/src/roadmap.cc
+++ b/src/roadmap.cc
@@ -51,7 +51,7 @@ namespace hpp {
for (it = hs.begin(); it != hs.end(); ++it)
(*it)->clear ();
}
- symbolicCCs_.clear();
+ leafCCs_.clear();
}
void Roadmap::push_node (const core::NodePtr_t& n)
@@ -60,7 +60,7 @@ namespace hpp {
const RoadmapNodePtr_t& node =
static_cast <const RoadmapNodePtr_t> (n);
statInsert (node);
- symbolicCCs_.insert(node->symbolicComponent());
+ leafCCs_.insert(node->leafConnectedComponent());
}
void Roadmap::statInsert (const RoadmapNodePtr_t& n)
@@ -119,7 +119,7 @@ namespace hpp {
// call RoadmapNode constructor with new manipulation connected component
RoadmapNodePtr_t node = new RoadmapNode (q, ConnectedComponent::create(weak_));
LeafConnectedCompPtr_t sc = WeighedLeafConnectedComp::create (weak_.lock());
- node->symbolicComponent (sc);
+ node->leafConnectedComponent (sc);
sc->setFirstNode(node);
return node;
}
@@ -134,16 +134,16 @@ namespace hpp {
Parent::addEdge(edge);
const RoadmapNodePtr_t& f = static_cast <const RoadmapNodePtr_t> (edge->from());
const RoadmapNodePtr_t& t = static_cast <const RoadmapNodePtr_t> (edge->to());
- LeafConnectedCompPtr_t scf = f->symbolicComponent();
- LeafConnectedCompPtr_t sct = t->symbolicComponent();
+ LeafConnectedCompPtr_t scf = f->leafConnectedComponent();
+ LeafConnectedCompPtr_t sct = t->leafConnectedComponent();
scf->canReach(sct);
if (scf->canMerge(sct)) {
if (scf->nodes().size() > sct->nodes().size()) {
scf->merge(sct);
- symbolicCCs_.erase(sct);
+ leafCCs_.erase(sct);
} else {
sct->merge(scf);
- symbolicCCs_.erase(scf);
+ leafCCs_.erase(scf);
}
}
}
diff --git a/src/symbolic-planner.cc b/src/symbolic-planner.cc
index f0ae1b3c..9e5cfd5f 100644
--- a/src/symbolic-planner.cc
+++ b/src/symbolic-planner.cc
@@ -179,7 +179,7 @@ namespace hpp {
// Get the roadmap and the symbolic components
RoadmapPtr_t rdm = HPP_DYNAMIC_PTR_CAST(Roadmap, roadmap());
HPP_ASSERT(rdm);
- LeafConnectedCompList_t scs = sorted_list (rdm->symbolicComponents());
+ LeafConnectedCompList_t scs = sorted_list (rdm->leafConnectedComponents());
core::Nodes_t newNodes;
core::PathPtr_t path;
@@ -301,7 +301,7 @@ namespace hpp {
HPP_START_TIMECOUNTER (chooseEdge);
// This code should go into a NodeSelector derived class.
WeighedLeafConnectedCompPtr_t wscPtr = HPP_DYNAMIC_PTR_CAST
- (WeighedLeafConnectedComp, n_near->symbolicComponent());
+ (WeighedLeafConnectedComp, n_near->leafConnectedComponent());
if (wscPtr) {
WeighedLeafConnectedComp wsc = *wscPtr;
value_type R = rand() / RAND_MAX;
@@ -528,12 +528,12 @@ namespace hpp {
// results in similar weights for the symbolic components.
const value_type weightInc = 1.3;
const value_type weightDec = 0.99;
- CastToWSC_ptr (oldWSC, near->symbolicComponent());
+ CastToWSC_ptr (oldWSC, near->leafConnectedComponent());
CollisionValidationReportPtr_t colRep;
switch (extend.status) {
case SUCCESS:
{
- CastToWSC_ptr (newWSC, newN->symbolicComponent());
+ CastToWSC_ptr (newWSC, newN->leafConnectedComponent());
switch (extend.info) {
case SUCCESS:
// If the corresponding edge is a loop, no adjustment.
--
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