Commit 36041418 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Pass a parameter map to CkwsRoadmapbuilder::solveCurrentProblem.

  Insert PARAM_PENETRATION in the map.
parent b83a67a0
......@@ -415,7 +415,11 @@ 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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