Commit 6813a999 authored by Eiichi Yoshida's avatar Eiichi Yoshida
Browse files

Call path opthmizer with the penetration specified for roadmap builder.

Without this penetration, adaptive shortcut optimizer does not work.
parent 74f18bd9
......@@ -417,9 +417,10 @@ ktStatus ChppPlanner::solveOneProblem(unsigned int problemId)
// optimizer for the path
if (hppProblem.pathOptimizer()) {
hppProblem.pathOptimizer()->optimizePath(kwsPath);
hppProblem.pathOptimizer()->optimizePath(kwsPath, hppProblem.roadmapBuilder()->penetration());
cout << "ChppPlanner::solveOneProblem: path optimized" << endl;
cout << "ChppPlanner::solveOneProblem: path optimized with penetration "
<< hppProblem.roadmapBuilder()->penetration()<<endl;
} else {
cerr << " no Optimizer Defined " << endl ;
......
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