RoadmapNode.cpp
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00001 #include "RoadmapNode.h"
00002 
00003 using namespace PathEngine;
00004 
00005 RoadmapNodePtr RoadmapNode::parent(unsigned int index)
00006 {
00007   if (index >= parents_.size()) return RoadmapNodePtr();
00008   return parents_[index];
00009 }
00010 
00011 RoadmapNodePtr RoadmapNode::child(unsigned int index)
00012 {
00013   if (index >= children_.size()) return RoadmapNodePtr();
00014   return children_[index];
00015 }
00016 
00017 bool RoadmapNode::removeParent(RoadmapNodePtr node)
00018 {
00019     std::vector<RoadmapNodePtr>::iterator it
00020         = find(parents_.begin(), parents_.end(), node);
00021     if (it != parents_.end()){
00022         parents_.erase(it);
00023         return true;
00024     }else{
00025         return false;
00026     }
00027 }
00028 
00029 bool RoadmapNode::removeChild(RoadmapNodePtr node)
00030 {
00031     std::vector<RoadmapNodePtr>::iterator it
00032         = find(children_.begin(), children_.end(), node);
00033     if (it != children_.end()){
00034         children_.erase(it);
00035         return true;
00036     }else{
00037         return false;
00038     }
00039 }
00040 


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:56