Commit 12ec782a authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Pass a parameter map to CkwsRoadmapbuilder::solveCurrentProblem.

  Insert PARAM_PENETRATION in the map.
parent 7c210c76
......@@ -434,7 +434,11 @@ namespace hpp {
CkwsPathShPtr kwsPath = CkwsPath::create(getRobot());
std::list< CkwsEdgeShPtr > unusedEdges;
if(KD_OK == roadmapBuilder()->solveCurrentProblem(kwsPath, unusedEdges)) {
CkitParameterMapShPtr params (CkitParameterMap::create ());
params->addDouble (CkwsValidatorDPCollision::PARAM_PENETRATION,
if(KD_OK == roadmapBuilder()->solveCurrentProblem
(kwsPath, params, unusedEdges)) {
hppDout(info,"--- Problem solved.----");
} else {
hppDout(error,"---- Problem NOT solved.----");
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment