From c4532dcd3609931b74b45f326217672074b675a9 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 5 Sep 2019 10:24:54 +0200
Subject: [PATCH] [Graph] Expose member constraintsAndComplements_.
---
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 87094b0b..fb61be8f 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -139,6 +139,12 @@ namespace hpp {
const ImplicitPtr_t& complement,
ImplicitPtr_t& combinationOfBoth) const;
+ /// Return the vector of tuples as registered in registerConstraints
+ /// \return a vector of tuples (c, c/complement, c/both) each of them
+ /// corresponding to a constraint, the complement constraint
+ /// and the combination of boths.
+ const ConstraintsAndComplements_t& constraintsAndComplements () const;
+
/// Constraint to project onto the Node.
/// \param state the state on which to project.
/// \return The initialized projector.
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 3d153daa..a2c0c25e 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -187,6 +187,12 @@ namespace hpp {
return false;
}
+ const ConstraintsAndComplements_t& Graph::constraintsAndComplements ()
+ const
+ {
+ return constraintsAndComplements_;
+ }
+
ConstraintSetPtr_t Graph::configConstraint (const StatePtr_t& state) const
{
return state->configConstraint ();
--
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