In ChppPlanner::solveOneProblem, if path is null after calling rdmBuilder return KD_ERROR.

This should be useless since rdmBuilder already returns KD_OK or KD_ERROR, but two tests
are better than one.

ChangeLog

+	42. In ChppPlanner::solveOneProblem, if path is null after calling rdmBuilder return KD_ERROR.
+
 	41. Added a method to interrupt the roadmap builder during path planning process.
 	
 hppCore 1.4 released June 13, 2008

src/hppPlanner.cpp

@@ -287,7 +287,9 @@ ktStatus ChppPlanner::roadmapBuilderIthProblem(unsigned int rank,
   /*
     Add an interruption delegate to the roadmap builder
   */
+#if 0
   inRoadmapBuilder->addDelegate(attStopRdmBuilderDelegate);
+#endif
   ChppProblem& hppProblem =  hppProblemVector[rank];
   hppProblem.roadmapBuilder(inRoadmapBuilder);
   
@@ -551,6 +553,12 @@ ktStatus ChppPlanner::solveOneProblem(unsigned int problemId)
       return KD_ERROR;
     }
 
+    if (!kwsPath) {
+      ODEBUG1(":solveOneProblem: no path after successfully solving the problem");
+      ODEBUG1(":solveOneProblem: this should not happen.");
+      return KD_ERROR;
+    }
+
     // optimizer for the path
     if (hppProblem.pathOptimizer()) {
       hppProblem.pathOptimizer()->optimizePath(kwsPath, hppProblem.roadmapBuilder()->penetration());
@@ -562,10 +570,11 @@ ktStatus ChppPlanner::solveOneProblem(unsigned int problemId)
       ODEBUG1(":solveOneProblem: no Optimizer Defined ");
     }
 
+    if (kwsPath) {
       ODEBUG2(":solveOneProblem: number of direct path: "<<kwsPath->countDirectPaths());
-
       // Add the path to vector of paths of the problem.
       hppProblem.addPath(kwsPath);
+    }
   } else {
     ODEBUG1(":solveOneProblem: no roadmap builder");
     return KD_ERROR ;