templated limb-rrt to handle user defined path

src/rbprmbuilder.impl.cc

@@ -22,6 +22,7 @@
 #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"
@@ -673,7 +674,7 @@ 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_);
         }
@@ -697,7 +698,7 @@ 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_);
         }