Commit 7c9ecdb7 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

templated limb-rrt to handle user defined path

parent 20ea3c57
......@@ -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_);
}
......
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