Commit 197ad257 authored by stevet's avatar stevet Committed by Joseph Mirabel

pinocchio_v2

parent 2e5e2f47
......@@ -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")
......
......@@ -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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