[API] interpolateBetweenStates has new optional parameter to define number of...

[API] interpolateBetweenStates has new optional parameter to define number of optimizations to run between states

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -223,7 +223,8 @@ module hpp
     /// between two indicated states. Will fail if the index of the states do not exist
     /// \param state1
     /// \param state2 index of second state.
-    void interpolateBetweenStates(in double state1, in double state2) raises (Error);
+    /// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
+    void interpolateBetweenStates(in double state1, in double state2, in unsigned short numOptimizations) raises (Error);
 
     /// Saves the last computed states by the function interpolate in a filename.
     /// Raises an error if interpolate has not been called, or the file could not be opened.

src/hpp/corbaserver/rbprm/rbprmfullbody.py

@@ -248,8 +248,9 @@ class FullBody (object):
 	#
     # \param index of first state.
     # \param index of second state.
-    def interpolateBetweenStates(self, state1, state2):
-		return self.client.rbprm.rbprm.interpolateBetweenStates(state1, state2)
+    # \param numOptim Number of iterations of the shortcut algorithm to apply between each states
+    def interpolateBetweenStates(self, state1, state2, numOptim = 10):
+		return self.client.rbprm.rbprm.interpolateBetweenStates(state1, state2, numOptim)
 		
 		
 		

src/rbprmbuilder.impl.cc

@@ -665,7 +665,7 @@ namespace hpp {
         }
     }
 
-    void RbprmBuilder::interpolateBetweenStates(double state1, double state2) throw (hpp::Error)
+    void RbprmBuilder::interpolateBetweenStates(double state1, double state2, unsigned short numOptimizations) throw (hpp::Error)
     {
         try
         {
@@ -676,7 +676,7 @@ namespace hpp {
             }
             //create helper
             core::PathVectorPtr_t path = interpolation::interpolateStates(fullBody_,problemSolver_->problem(),
-                                                                          lastStatesComputed_.begin()+s1,lastStatesComputed_.begin()+s2);
+                                                                          lastStatesComputed_.begin()+s1,lastStatesComputed_.begin()+s2, numOptimizations);
             problemSolver_->addPath(path);
             problemSolver_->robot()->setDimensionExtraConfigSpace(problemSolver_->robot()->extraConfigSpace().dimension()+1);
         }

src/rbprmbuilder.impl.hh

@@ -141,7 +141,7 @@ namespace hpp {
         virtual void setEndState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
         virtual hpp::floatSeqSeq* interpolate(double timestep, double path, double robustnessTreshold) throw (hpp::Error);
         virtual hpp::floatSeqSeq* interpolateConfigs(const hpp::floatSeqSeq& configs, double robustnessTreshold) throw (hpp::Error);
-        virtual void interpolateBetweenStates(double state1, double state2) throw (hpp::Error);
+        virtual void interpolateBetweenStates(double state1, double state2, unsigned short numOptimizations) throw (hpp::Error);
         virtual void saveComputedStates(const char* filepath) throw (hpp::Error);
         virtual void saveLimbDatabase(const char* limbname,const char* filepath) throw (hpp::Error);
         virtual hpp::floatSeq* getOctreeBox(const char* limbName, double sampleId) throw (hpp::Error);