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Humanoid Path Planner
hpp-core
Commits
ea30eeb4
Commit
ea30eeb4
authored
Jun 18, 2012
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Jun 18, 2012
Browse files
Add a method to clear all the roadmaps.
parent
e5c85511
Changes
4
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include/hpp/core/planner.hh
View file @
ea30eeb4
...
...
@@ -186,6 +186,9 @@ namespace hpp {
CkwsRoadmapBuilderShPtr
roadmapBuilder
,
bool
display
=
false
);
/// Clear roadmaps of each problem
virtual
void
clearRoadmaps
();
/// \brief Get roadmap builder of i-th problem.
/// \param rank Rank of problem in Planner::problemVector_.
/// \return shared pointer to roadmap builder.
...
...
include/hpp/core/problem.hh
View file @
ea30eeb4
...
...
@@ -132,9 +132,8 @@ namespace hpp {
void
roadmapBuilder
(
CkwsRoadmapBuilderShPtr
inroadmapBuilder
);
/// \brief Get roadmap building strategy.
CkwsRoadmapBuilderShPtr
roadmapBuilder
()
const
;
/// \brief set roadmap.
/// \param inRoadmap shared pointer to a roadmap.
void
roadmap
(
CkwsRoadmapShPtr
inRoadmap
)
;
/// Clear the roadmap.
void
clearRoadmap
();
/// \brief Get roadmap.
/// \return shared pointer to the roadmap.
CkwsRoadmapShPtr
roadmap
()
const
;
...
...
@@ -227,8 +226,6 @@ namespace hpp {
CkwsConfigShPtr
initConf_
;
/// \brief Shared pointer to goal configuration.
std
::
vector
<
CkwsConfigShPtr
>
goalConfigurations_
;
/// \brief Shared pointer to a roadmap associate to the robot
CkwsRoadmapShPtr
roadmap_
;
/// \brief Shared pointer to a roadmapBuilder
CkwsRoadmapBuilderShPtr
roadmapBuilder_
;
/// \brief Shared pointer to a optimizer for the path
...
...
src/planner.cc
View file @
ea30eeb4
...
...
@@ -368,6 +368,14 @@ namespace hpp {
// ======================================================================
void
Planner
::
clearRoadmaps
()
{
for
(
unsigned
int
i
=
0
;
i
<
problemVector_
.
size
();
++
i
)
{
problemVector_
[
i
].
clearRoadmap
();
}
}
// ======================================================================
ktStatus
Planner
::
pathOptimizerIthProblem
(
unsigned
int
rank
,
CkwsPathPlannerShPtr
pathOptimizer
)
...
...
src/problem.cc
View file @
ea30eeb4
...
...
@@ -81,7 +81,6 @@ namespace hpp {
robot_
(
inProblem
.
robot_
),
initConf_
(
inProblem
.
initConf_
),
goalConfigurations_
(
inProblem
.
goalConfigurations_
),
roadmap_
(
inProblem
.
roadmap_
),
roadmapBuilder_
(
inProblem
.
roadmapBuilder_
),
pathOptimizer_
(
inProblem
.
pathOptimizer_
),
configExtractor_
(
inProblem
.
configExtractor_
),
...
...
@@ -560,15 +559,19 @@ namespace hpp {
CkwsRoadmapShPtr
Problem
::
roadmap
()
const
{
return
roadmap
_
;
return
roadmap
Builder_
->
roadmap
()
;
}
// ======================================================================
void
Problem
::
roadmap
(
CkwsRoadmapShPtr
in
Roadmap
)
void
Problem
::
clear
Roadmap
(
)
{
roadmap_
=
inRoadmap
;
if
(
roadmapBuilder_
)
{
if
(
roadmapBuilder_
->
roadmap
())
{
roadmapBuilder_
->
roadmap
()
->
clear
();
}
resetGoalConfig
();
}
}
// ======================================================================
...
...
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