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Guilhem Saurel
hpp-rbprm-corba
Commits
e75f6d36
Commit
e75f6d36
authored
May 19, 2019
by
Joseph Mirabel
Browse files
Update to API change of configuration shooters.
parent
a69dd94e
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/rbprmbuilder.impl.cc
View file @
e75f6d36
...
...
@@ -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
(
);
s
hooter
->
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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