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Humanoid Path Planner
hpp-core
Commits
e1c0c527
Commit
e1c0c527
authored
Sep 14, 2012
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Sep 14, 2012
Browse files
Add some tests that roadmap builder has been set before accessing it.
parent
bfbd8912
Changes
1
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Inline
Side-by-side
src/problem.cc
View file @
e1c0c527
...
...
@@ -120,7 +120,7 @@ namespace hpp {
void
Problem
::
resetGoalConfig
()
{
goalConfigurations_
.
clear
();
roadmapBuilder_
->
resetGoalNodes
();
if
(
roadmapBuilder_
)
roadmapBuilder_
->
resetGoalNodes
();
}
// ======================================================================
...
...
@@ -388,7 +388,10 @@ namespace hpp {
}
/* if (directPath) */
// solve the problem with the roadmapBuilder
if
(
!
roadmapBuilder_
)
{
hppDout
(
error
,
"No roadmap builder."
);
return
KD_ERROR
;
}
// Set init and goal nodes.
roadmapBuilder_
->
resetStartNodes
();
roadmapBuilder_
->
resetGoalNodes
();
...
...
@@ -558,8 +561,8 @@ namespace hpp {
CkwsRoadmapShPtr
Problem
::
roadmap
()
const
{
return
r
oadmap
Builder_
->
roadmap
();
if
(
roadmapBuilder_
)
return
roadmapBuilder_
->
roadmap
();
return
CkwsR
oadmap
ShPtr
();
}
// ======================================================================
...
...
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