Commit 5de3fec3 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

templated limb-rrt to handle user defined path

parent e864deae
......@@ -20,10 +20,10 @@
#include "hpp/corbaserver/rbprm/rbprmbuilder.hh"
#include "rbprmbuilder.impl.hh"
#include "hpp/rbprm/rbprm-device.hh"
#include "hpp/rbprm/rbprm-device.hh"
#include "hpp/rbprm/rbprm-validation.hh"
#include "hpp/rbprm/interpolation/rbprm-path-interpolation.hh"
#include "hpp/rbprm/interpolation/limb-rrt-helper.hh"
#include "hpp/rbprm/interpolation/limb-rrt-path.hh"
#include "hpp/rbprm/stability/stability.hh"
#include "hpp/rbprm/sampling/sample-db.hh"
#include "hpp/model/urdf/util.hh"
......@@ -695,7 +695,7 @@ namespace hpp {
}
//create helper
// /interpolation::LimbRRTHelper helper(fullBody_, problemSolver_->problem());
core::PathPtr_t path = interpolation::interpolateStates(fullBody_,problemSolver_->problem(),
core::PathPtr_t path = interpolation::interpolateStates<rbprm::interpolation::LimbRRTPath>(fullBody_,problemSolver_->problem(),
lastStatesComputed_.begin()+s1,lastStatesComputed_.begin()+s2, numOptimizations);
AddPath(path,problemSolver_);
}
......@@ -719,7 +719,7 @@ namespace hpp {
{
throw std::runtime_error ("No path computed, cannot interpolate ");
}
core::PathPtr_t path = interpolation::interpolateStates(fullBody_,problemSolver_->problem(), problemSolver_->paths()[pathId],
core::PathPtr_t path = interpolation::interpolateStates<rbprm::interpolation::LimbRRTPath>(fullBody_,problemSolver_->problem(), problemSolver_->paths()[pathId],
lastStatesComputedTime_.begin()+s1,lastStatesComputedTime_.begin()+s2, numOptimizations);
AddPath(path,problemSolver_);
}
......
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