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Humanoid Path Planner
hpp-core
Commits
12ec782a
Commit
12ec782a
authored
Oct 31, 2013
by
Florent Lamiraux
Browse files
Pass a parameter map to CkwsRoadmapbuilder::solveCurrentProblem.
Insert PARAM_PENETRATION in the map.
parent
7c210c76
Changes
1
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Inline
Side-by-side
src/problem.cc
View file @
12ec782a
...
...
@@ -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
,
penetration_
);
if
(
KD_OK
==
roadmapBuilder
()
->
solveCurrentProblem
(
kwsPath
,
params
,
unusedEdges
))
{
hppDout
(
info
,
"--- Problem solved.----"
);
}
else
{
hppDout
(
error
,
"---- Problem NOT solved.----"
);
...
...
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