Commit 63770c1f authored by Steve Tonneau's avatar Steve Tonneau
Browse files

interpolateStates templated to take any iterator for interpolation

parent 7c9ecdb7
......@@ -674,7 +674,7 @@ namespace hpp {
}
//create helper
// /interpolation::LimbRRTHelper helper(fullBody_, problemSolver_->problem());
core::PathPtr_t path = interpolation::interpolateStates<rbprm::interpolation::LimbRRTPath>(fullBody_,problemSolver_->problem(),
core::PathPtr_t path = interpolation::interpolateStates<rbprm::interpolation::LimbRRTPath, CIT_State>(fullBody_,problemSolver_->problem(),
lastStatesComputed_.begin()+s1,lastStatesComputed_.begin()+s2, numOptimizations);
AddPath(path,problemSolver_);
}
......
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