Commit 0231ad2e authored by Thomas Moulard's avatar Thomas Moulard
Browse files

Merge branch 'master' of ssh://git.laas.fr/git/jrl/hppCore

parents b055a167 18965b84
......@@ -20,6 +20,7 @@
#define HPPPROBLEM_ODEBUG2(x) std::cout << "ChppProblem:" << x << std::endl
#define HPPPROBLEM_ODEBUG1(x) std::cerr << "ChppProblem:" << x << std::endl
#elif DEBUG==1
#include "kwsioConfig.h"
#define HPPPROBLEM_ODEBUG3(x)
#define HPPPROBLEM_ODEBUG2(x)
#define HPPPROBLEM_ODEBUG1(x) std::cerr << "ChppProblem:" << x << std::endl
......
......@@ -239,6 +239,10 @@ ktStatus ChppProblem::checkProblem() const
ktStatus ChppProblem::validateInitConfig(CkwsConfigShPtr& inOutInitConfig,
CkwsPathShPtr& inOutPath) const
{
if (validateConfig(getRobot(), initConfig()) == KD_OK) {
ODEBUG2(":validateInitConfig: initial configuration is valid.");
return KD_OK;
}
/*
If initial configuration is not valid and configuration extractor
has been set, try to extract a valid configuration in the neighborhood
......
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