Commit 86b5c215 authored by florent's avatar florent
Browse files

When inserting a new problem, attach existing obstacles to the robot.

parent fb056bc0
2007/09/30
21. When inserting a new problem, attach existing obstacles to the robot.
2007/09/29
20. Added API function to optimize a path.
19. Added API functions to display a roadmap in the interface.
......
......@@ -48,7 +48,15 @@ public:
*/
ChppProblem(CkppDeviceComponentShPtr inRobot);
/**
/**
* \brief Create a path planning problem with no initial nor goal configuration.
* \param inRobot robot associated to the path planning problem.
* \param inObstacleList list of obstacle of this problem.
*/
ChppProblem(CkppDeviceComponentShPtr inRobot,
const std::vector<CkcdObjectShPtr>& inObstacleList);
/**
\name Problem definition
@{
*/
......
......@@ -59,7 +59,7 @@ ChppPlanner::~ChppPlanner()
ktStatus ChppPlanner::addHppProblem(CkppDeviceComponentShPtr robot)
{
ChppProblem hppProblem(robot);
ChppProblem hppProblem(robot, mObstacleList);
cout<<"adding a problem in vector"<<endl;
// Add robot in vector .
......@@ -81,7 +81,7 @@ ktStatus ChppPlanner::addHppProblem(CkppDeviceComponentShPtr robot)
ktStatus ChppPlanner::addHppProblemAtBeginning(CkppDeviceComponentShPtr robot)
{
ChppProblem hppProblem(robot);
ChppProblem hppProblem(robot, mObstacleList);
cout<<"adding a problem at beginning of vector"<<endl;
// Add robot in vector .
......
......@@ -29,10 +29,20 @@ const std::string ChppProblem::DEVICE_KEY("device");
// ==========================================================================
ChppProblem::ChppProblem(CkppDeviceComponentShPtr inRobot) : attDrawRoadmapDelegate(NULL)
ChppProblem::ChppProblem(CkppDeviceComponentShPtr inRobot) :
attNotificator(CkitNotificator::defaultNotificator()),
attRobot(inRobot), attDrawRoadmapDelegate(NULL)
{
attNotificator = CkitNotificator::defaultNotificator();
attRobot = inRobot;
}
// ==========================================================================
ChppProblem::ChppProblem(CkppDeviceComponentShPtr inRobot,
const std::vector<CkcdObjectShPtr>& inObstacleList) :
attNotificator(CkitNotificator::defaultNotificator()),
attRobot(inRobot), attDrawRoadmapDelegate(NULL)
{
obstacleList(inObstacleList);
}
// ==========================================================================
......
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