Commit e75f6d36 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Update to API change of configuration shooters.

parent a69dd94e
......@@ -756,7 +756,7 @@ namespace hpp {
core::configurationShooter::UniformPtr_t shooter = core::configurationShooter::Uniform::create(fullBody()->device_);
for(std::size_t i =0; !rep.success_ && i< maxNumeSamples; ++i)
{
s.configuration_ = *shooter->shoot();
shooter->shoot(s.configuration_);
s.configuration_.head<7>() = head;
s.configuration_.tail(ecs_size) = ecs;
//c = rbprm::interpolation::projectOnCom(fullBody(), problemSolver()->problem(),s,com_target,succes);
......@@ -915,6 +915,7 @@ namespace hpp {
fcl::Vec3f z(0,0,1);
ValidationReportPtr_t report = ValidationReportPtr_t(new CollisionValidationReport);
core::configurationShooter::UniformPtr_t shooter = core::configurationShooter::Uniform::create(fullBody()->device_);
Configuration_t config;
for(int i =0; i< 1000; ++i)
{
core::DevicePtr_t device = fullBody()->device_->clone();
......@@ -950,8 +951,7 @@ namespace hpp {
rotConstraints)));
}
}
ConfigurationPtr_t configptr = shooter->shoot();
Configuration_t config = *configptr;
shooter->shoot (config);
if(proj->apply(config) && config[2]> 0.3)
{
if(problemSolver()->problem()->configValidations()->validate(config,report))
......@@ -3228,7 +3228,7 @@ namespace hpp {
Configuration_t head = ns.configuration_.head<7>();
for(std::size_t i =0; !rep.success_ && i< max_num_sample; ++i)
{
ns.configuration_ = *shooter->shoot();
shooter->shoot(ns.configuration_);
ns.configuration_.head<7>() = head;
rep = projection::projectStateToObstacle(fullBody(),limb, fullBody()->GetLimbs().at(limb), ns, n,p);
rep.success_ = rep.success_ && val->validate(rep.result_.configuration_,rport);
......
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