Commit 0f9725d8 authored by Eiichi Yoshida's avatar Eiichi Yoshida
Browse files
parents 88cba249 cae6638b
2007/08/01
15. Added a default implementation of ChppPlanner::solve so that the class is not pure virtual.
hppCore 1.0.1 released July 20, 2007
14. remove ChppColPair::dof since it was not used
......
......@@ -210,10 +210,10 @@ class ChppPlanner {
@{
*/
/**
\brief Compute a solution path.
\brief Compute a solution path for each problem.
\return KD_OK or KD_ERROR
*/
virtual ktStatus solve()=0;
virtual ktStatus solve();
/**
\brief Solve a problem in the vector.
......
......@@ -509,3 +509,13 @@ ChppBodyConstShPtr ChppPlanner::findBodyByName(std::string inBodyName) const
}
ktStatus ChppPlanner::solve()
{
ktStatus success=KD_OK;
for (unsigned int iProblem=0; iProblem<getNbHppProblems(); iProblem++) {
if (solveOneProblem(iProblem) != KD_OK) {
success = KD_ERROR;
}
}
return success;
}
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