t_rrt functor now take a problemSolver instead of a problem

see commit in rbprm : cd4fce4

src/rbprmbuilder.impl.cc

@@ -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

src/rbprmbuilder.impl.hh

@@ -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,