can choose not to load all computed values for a limb database

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -187,7 +187,8 @@ module hpp
     /// \param databasepath filepath to the database
     /// \param id user given name of the new limb
     /// \param heuristicName heuristic used to bias sample selection
-    void addLimbDatabase(in string databasepath, in string id, in string heuristicName) raises (Error);
+    /// \param loadValues whether other values computed for the limb database should be loaded
+    void addLimbDatabase(in string databasepath, in string id, in string heuristicName, in double loadValues) raises (Error);
 
     /// Set the start state of a contact generation problem
     /// environment, ordered by their efficiency

src/hpp/corbaserver/rbprm/rbprmfullbody.py

@@ -100,8 +100,12 @@ class FullBody (object):
 	# \param limbId: user defined id for the limb. Must be unique.
     #  The id is used if several contact points are defined for the same limb (ex: the knee and the foot)
     # \param heuristicName: name of the selected heuristic for configuration evaluation
-    def addLimbDatabase(self, databasepath, limbId, heuristicName):
-		self.client.rbprm.rbprm.addLimbDatabase(databasepath, limbId, heuristicName)		
+    # \param loadValues: whether values computed, other than the static ones, should be loaded in memory
+    def addLimbDatabase(self, databasepath, limbId, heuristicName, loadValues = True):		
+		boolVal = 0.
+		if(loadValues):
+			boolVal = 1.
+		self.client.rbprm.rbprm.addLimbDatabase(databasepath, limbId, heuristicName, boolVal)		
 
 	## Add a limb to the model
 	#

src/rbprmbuilder.impl.cc

@@ -477,14 +477,14 @@ namespace hpp {
     }
 
 
-    void RbprmBuilder::addLimbDatabase(const char* databasePath, const char* id, const char* heuristicName) throw (hpp::Error)
+    void RbprmBuilder::addLimbDatabase(const char* databasePath, const char* id, const char* heuristicName, double loadValues) throw (hpp::Error)
     {
         if(!fullBodyLoaded_)
             throw Error ("No full body robot was loaded");
         try
         {
             std::string fileName(databasePath);
-            fullBody_->AddLimb(fileName, std::string(id), problemSolver_->collisionObstacles(), heuristicName);
+            fullBody_->AddLimb(fileName, std::string(id), problemSolver_->collisionObstacles(), heuristicName, loadValues > 0.5);
         }
         catch(std::runtime_error& e)
         {

src/rbprmbuilder.impl.hh

@@ -119,7 +119,7 @@ namespace hpp {
 
         virtual void addLimb(const char* id, const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y,
                              unsigned short samples, const char *heuristicName, double resolution, const char *contactType) throw (hpp::Error);
-        virtual void addLimbDatabase(const char* databasePath, const char* id, const char* heuristicName) throw (hpp::Error);
+        virtual void addLimbDatabase(const char* databasePath, const char* id, const char* heuristicName, double loadValues) throw (hpp::Error);
 
         virtual void setStartState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
         virtual void setEndState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);