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Guilhem Saurel
hpp-rbprm-corba
Commits
197ad257
Commit
197ad257
authored
Feb 12, 2019
by
stevet
Committed by
Joseph Mirabel
Feb 18, 2019
Browse files
pinocchio_v2
parent
2e5e2f47
Changes
2
Hide whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
197ad257
...
...
@@ -66,7 +66,7 @@ if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
list
(
GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION
)
add_definitions
(
-DOCTOMAP_MAJOR_VERSION=
${
OCTOMAP_MAJOR_VERSION
}
-DOCTOMAP_MINOR_VERSION=
${
OCTOMAP_MINOR_VERSION
}
-DOCTOMAP_PATCH_VERSION=
${
OCTOMAP_PATCH_VERSION
}
)
-DOCTOMAP_PATCH_VERSION=
${
OCTOMAP_PATCH_VERSION
}
-DHPP_FCL_HAVE_OCTOMAP=1
)
message
(
STATUS
"FCL uses Octomap"
${
OCTOMAP_MINOR_VERSION
}
)
else
()
message
(
STATUS
"FCL does not use Octomap"
)
...
...
src/rbprmbuilder.impl.cc
View file @
197ad257
...
...
@@ -2361,7 +2361,8 @@ namespace hpp {
core
::
segment_t
interval
(
0
,
p1
->
initial
().
rows
()
-
1
);
core
::
segments_t
intervals
;
intervals
.
push_back
(
interval
);
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p1
,
intervals
);
core
::
segments_t
velIntervals
(
1
,
core
::
segment_t
(
0
,
fullBody
()
->
device_
->
numberDof
()));
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p1
,
intervals
,
velIntervals
);
resPath
->
appendPath
(
reducedPath
);
pathsIds
.
push_back
(
AddPath
(
p1
,
problemSolver
()));
}
...
...
@@ -2383,7 +2384,8 @@ namespace hpp {
core
::
segment_t
interval
(
0
,
p2
->
initial
().
rows
()
-
1
);
core
::
segments_t
intervals
;
intervals
.
push_back
(
interval
);
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p2
,
intervals
);
core
::
segments_t
velIntervals
(
1
,
core
::
segment_t
(
0
,
fullBody
()
->
device_
->
numberDof
()));
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p2
,
intervals
,
velIntervals
);
resPath
->
appendPath
(
reducedPath
);
}
catch
(
std
::
runtime_error
&
e
)
...
...
@@ -2401,7 +2403,8 @@ namespace hpp {
core
::
segment_t
interval
(
0
,
p3
->
initial
().
rows
()
-
1
);
core
::
segments_t
intervals
;
intervals
.
push_back
(
interval
);
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p3
,
intervals
);
core
::
segments_t
velIntervals
(
1
,
core
::
segment_t
(
0
,
fullBody
()
->
device_
->
numberDof
()));
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p3
,
intervals
,
velIntervals
);
resPath
->
appendPath
(
reducedPath
);
pathsIds
.
push_back
(
AddPath
(
p3
,
problemSolver
()));
}
...
...
@@ -2504,7 +2507,8 @@ namespace hpp {
core
::
segment_t
interval
(
0
,
p2
->
initial
().
rows
()
-
1
);
core
::
segments_t
intervals
;
intervals
.
push_back
(
interval
);
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p2
,
intervals
);
core
::
segments_t
velIntervals
(
1
,
core
::
segment_t
(
0
,
fullBody
()
->
device_
->
numberDof
()));
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p2
,
intervals
,
velIntervals
);
core
::
PathVectorPtr_t
resPath
=
core
::
PathVector
::
create
(
fullBody
()
->
device_
->
configSize
(),
fullBody
()
->
device_
->
numberDof
());
resPath
->
appendPath
(
reducedPath
);
...
...
@@ -2558,7 +2562,8 @@ namespace hpp {
core
::
segment_t
interval
(
0
,
p1
->
initial
().
rows
()
-
1
);
core
::
segments_t
intervals
;
intervals
.
push_back
(
interval
);
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p1
,
intervals
);
core
::
segments_t
velIntervals
(
1
,
core
::
segment_t
(
0
,
fullBody
()
->
device_
->
numberDof
()));
PathPtr_t
reducedPath
=
core
::
SubchainPath
::
create
(
p1
,
intervals
,
velIntervals
);
resPath
->
appendPath
(
reducedPath
);
pathsIds
.
push_back
((
CORBA
::
Short
)
problemSolver
()
->
addPath
(
resPath
));
...
...
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