[Problem] Add copy constructor.

include/hpp/core/problem.hh

@@ -52,6 +52,10 @@ namespace hpp {
       /// \param robot robot associated to the path planning problem.
       static ProblemPtr_t create (DevicePtr_t robot);
 
+      /// Copy a path planning problem and return a shared pointer.
+      /// \param other problem to copy
+      static ProblemPtr_t createCopy(const ProblemConstPtr_t& other);
+
       /// Constructor without argument
       /// \warning do not use this constructor. It is necessary to define
       ///          std::pairs <Problem, OtherType>.
@@ -296,6 +300,8 @@ namespace hpp {
     protected:
       /// \copydoc Problem::create(DevicePtr_t);
       Problem (DevicePtr_t robot);
+      /// \copydoc Problem::create(DevicePtr_t);
+      Problem (const Problem& other);
 
       void init (ProblemWkPtr_t wkPtr);
 

src/problem.cc

@@ -78,12 +78,34 @@ namespace hpp {
       return p;
     }
 
+    ProblemPtr_t Problem::createCopy(const ProblemConstPtr_t& other)
+    {
+      ProblemPtr_t p(new Problem(*other));
+      p->init(p);
+      return p;
+    }
+
     // ======================================================================
     Problem::Problem (DevicePtr_t robot) :
       robot_ (robot), configValidations_ (ConfigValidations::create ())
     {
     }
 
+    // ======================================================================
+    Problem::Problem (const Problem& other) :
+      robot_ (other.robot_), distance_(other.distance_),
+      initConf_(other.initConf_), goalConfigurations_
+      (other.goalConfigurations_), target_(other.target_),
+      steeringMethod_(other.steeringMethod_),
+      configValidations_ (other.configValidations()),
+      pathValidation_(other.pathValidation_),
+      pathProjector_(other.pathProjector_),
+      collisionObstacles_(other.collisionObstacles_),
+      constraints_(other.constraints_),
+      configurationShooter_(other.configurationShooter_)
+    {
+    }
+
     // ======================================================================
 
     void Problem::init (ProblemWkPtr_t wkPtr)