Commit 59c1e1f8 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

t_rrt functor now take a problemSolver instead of a problem

see commit in rbprm : cd4fce4
parent 3fab068a
......@@ -2195,8 +2195,8 @@ assert(s2 == s1 +1);
try{
hppDout(notice,"begin comRRT between statebis 1 and 2");
core::PathPtr_t p2 =(*functor)(fullBody(),problemSolver()->problem(), paths[cT2],
s1Bis,s2Bis, numOptimizations,true,problemSolver()->paths().size());
core::PathPtr_t p2 =(*functor)(fullBody(),problemSolver(), paths[cT2],
s1Bis,s2Bis, numOptimizations,true);
hppDout(notice,"end comRRT");
pathsIds.push_back(AddPath(p2,problemSolver()));
// reduce path to remove extradof
......@@ -2314,8 +2314,8 @@ assert(s2 == s1 +1);
comPath->appendPath(paths[cT3]);
std::vector<std::string> trackedEffectorNames = stringConversion(trackedEffector);
core::PathPtr_t refFullBody = problemSolver()->paths()[refpath]->extract(std::make_pair(path_from, path_to));
core::PathPtr_t p2 =interpolation::effectorRRTFromPath(fullBody(),problemSolver()->problem(), comPath,
state1,state2, numOptimizations,true,problemSolver()->paths().size(), refFullBody, trackedEffectorNames);
core::PathPtr_t p2 =interpolation::effectorRRTFromPath(fullBody(),problemSolver(), comPath,
state1,state2, numOptimizations,true, refFullBody, trackedEffectorNames);
pathsIds.push_back(AddPath(p2,problemSolver()));
// reduce path to remove extradof
......
......@@ -271,8 +271,8 @@ namespace hpp {
virtual CORBA::Short comRRT(double state1, double state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error);
typedef core::PathPtr_t (*t_rrt)
(RbPrmFullBodyPtr_t, core::ProblemPtr_t, const core::PathPtr_t,
const State &, const State &, const std::size_t, const bool,const std::size_t);
(RbPrmFullBodyPtr_t, core::ProblemSolverPtr_t, const core::PathPtr_t,
const State &, const State &, const std::size_t, const bool);
hpp::floatSeq* rrt(t_rrt functor ,double state1,double state2,
unsigned short comTraj1, unsigned short comTraj2, unsigned short comTraj3,
......
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