Commit abf1a85f authored by florent's avatar florent
Browse files

If direct path is solution of a problem, do not add direct path roadmap.

This modification is temporary and fixes a bug in the use of CkwsIPPRdmBuilder.
parent a5b62016
......@@ -515,6 +515,7 @@ ktStatus ChppPlanner::solveOneProblem(unsigned int problemId)
ODEBUG2(":solveOneProblem: Problem solved with direct connection. ");
#if 0
/* Add direct path to roadmap if not already included */
if (hppProblem.roadmapBuilder()) {
CkwsRoadmapShPtr roadmap = hppProblem.roadmapBuilder()->roadmap();
......@@ -547,6 +548,7 @@ ktStatus ChppPlanner::solveOneProblem(unsigned int problemId)
}
ODEBUG2(":solveOneProblem: number of edges in roadmap after attempting at adding edge= " << roadmap->countEdges());
}
#endif
kwsPath->appendDirectPath(directPath);
// Add the path to vector of paths of the problem.
hppProblem.addPath(KIT_DYNAMIC_PTR_CAST(CkwsPath, kwsPath->clone()));
......
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