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 { ...@@ -674,7 +674,7 @@ namespace hpp {
} }
//create helper //create helper
// /interpolation::LimbRRTHelper helper(fullBody_, problemSolver_->problem()); // /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); lastStatesComputed_.begin()+s1,lastStatesComputed_.begin()+s2, numOptimizations);
AddPath(path,problemSolver_); AddPath(path,problemSolver_);
} }
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment