From 1abba505a8f819e5137ee9d84e57ef5388a4a010 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 28 Aug 2017 14:43:31 +0200
Subject: [PATCH] GraphOptimizer uses path validation of edge for optimization.
---
src/graph-optimizer.cc | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/graph-optimizer.cc b/src/graph-optimizer.cc
index 7b065947..66ec3303 100644
--- a/src/graph-optimizer.cc
+++ b/src/graph-optimizer.cc
@@ -38,7 +38,10 @@ namespace hpp {
this->problem().pathValidation ());
core::Problem p (problem().robot());
p.distance(problem().distance());
- p.pathValidation(gpv->innerValidation());
+ // It should be ok to use the path validation of each edge because it
+ // corresponds to the global path validation minus the collision pairs
+ // disabled using the edge constraint.
+ // p.pathValidation(gpv->innerValidation());
p.pathProjector(problem().pathProjector());
path->flatten (expanded);
@@ -72,6 +75,7 @@ namespace hpp {
p.constraints(edge->steeringMethod()->constraints());
p.constraints()->configProjector()->rightHandSideFromConfig(toOpt->initial());
p.steeringMethod(edge->steeringMethod());
+ p.pathValidation(edge->pathValidation());
pathOptimizer_ = factory_ (p);
toConcat = pathOptimizer_->optimize (toOpt);
}
--
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