[transition test] adapt isDynamicallyReachable to the new API

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -706,7 +706,7 @@ module hpp
 
     boolean isReachableFromState(in unsigned short stateFrom, in unsigned short stateTo)raises (Error);
 
-    short isDynamicallyReachableFromState(in unsigned short stateFrom, in unsigned short stateTo,in floatSeq timings,in double T)raises (Error);
+    short isDynamicallyReachableFromState(in unsigned short stateFrom, in unsigned short stateTo,in floatSeq timings,in unsigned short numPointsPerPhase)raises (Error);
 
 
   }; // interface Robot

src/hpp/corbaserver/rbprm/rbprmfullbody.py

@@ -1095,12 +1095,6 @@ class FullBody (object):
      def isReachableFromState(self,stateFrom,stateTo):
           return self.client.rbprm.rbprm.isReachableFromState(stateFrom,stateTo)
 
-     def isDynamicallyReachableFromState(self,stateFrom,stateTo,timings=[],T=0):
-          if T>0 and len(timings) != 3: # timings vector must be of size 3
-              if len(timings) > 3:
-                  timings = timings[:3]
-              else:
-                  while len(timings) < 3:
-                      timings +=[0]
-          return self.client.rbprm.rbprm.isDynamicallyReachableFromState(stateFrom,stateTo,timings,T)
+     def isDynamicallyReachableFromState(self,stateFrom,stateTo,timings=[],numPointsPerPhases=3):
+          return self.client.rbprm.rbprm.isDynamicallyReachableFromState(stateFrom,stateTo,timings,numPointsPerPhases)
 

src/rbprmbuilder.impl.cc

@@ -3086,7 +3086,7 @@ assert(s2 == s1 +1);
 
 
 
-    CORBA::Short RbprmBuilder::isDynamicallyReachableFromState(unsigned short stateFrom,unsigned short stateTo,const hpp::floatSeq &timings, double T )throw (hpp::Error){
+    CORBA::Short RbprmBuilder::isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo, const hpp::floatSeq &timings, unsigned short numPointPerPhase )throw (hpp::Error){
         if(!fullBodyLoaded_){
           throw std::runtime_error ("fullBody not loaded");
         }
@@ -3094,14 +3094,15 @@ assert(s2 == s1 +1);
             throw std::runtime_error ("Unexisting state ID");
         }
         reachability::Result res;
-        if(T>0){
+        if(timings.length()>0){
             std::vector<double> Ts;
-            Configuration_t t_config = dofArrayToConfig(3,timings);
-            for(size_t i = 0 ; i < 3 ; ++i)
+
+            Configuration_t t_config = dofArrayToConfig(timings.length(),timings);
+            for(size_t i = 0 ; i < timings.length() ; ++i)
                 Ts.push_back(t_config[i]);
-            res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],Ts,T);
+            res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,Ts,numPointPerPhase);
         }else{
-            res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo]);
+            res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false);
         }
         if (res.success()){
             core::PathVectorPtr_t pathVector = core::PathVector::create(res.path_->outputSize(),res.path_->outputDerivativeSize());

src/rbprmbuilder.impl.hh

@@ -346,7 +346,7 @@ namespace hpp {
         virtual bool areKinematicsConstraintsVerified(const hpp::floatSeq &point)throw (hpp::Error);
         virtual bool areKinematicsConstraintsVerifiedForState(unsigned short stateId,const hpp::floatSeq &point)throw (hpp::Error);
         virtual bool isReachableFromState(unsigned short stateFrom,unsigned short stateTo)throw (hpp::Error);
-        virtual CORBA::Short isDynamicallyReachableFromState(unsigned short stateFrom,unsigned short stateTo,const hpp::floatSeq &timings, double T )throw (hpp::Error);
+        virtual CORBA::Short isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo, const hpp::floatSeq &timings, unsigned short numPointPerPhase )throw (hpp::Error);
 
 
         void selectFullBody (const char* name) throw (hpp::Error)