From 245670f507d234a343f5f2fe6a57696d64045963 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 4 Jul 2017 17:05:56 +0200
Subject: [PATCH] GraphSteeringMethod is built with a const Problem& (not a
ProblemPtr_t)
---
include/hpp/manipulation/graph-steering-method.hh | 14 +++++++-------
src/graph-steering-method.cc | 13 ++++++-------
src/problem.cc | 2 +-
3 files changed, 14 insertions(+), 15 deletions(-)
diff --git a/include/hpp/manipulation/graph-steering-method.hh b/include/hpp/manipulation/graph-steering-method.hh
index 29a750cc..42d96c6b 100644
--- a/include/hpp/manipulation/graph-steering-method.hh
+++ b/include/hpp/manipulation/graph-steering-method.hh
@@ -38,16 +38,16 @@ namespace hpp {
public:
/// Create instance and return shared pointer
- /// \warning core::ProblemPtr_t will be casted to ProblemPtr_t
+ /// \warning core::Problem will be casted to Problem
static GraphSteeringMethodPtr_t create
- (const core::ProblemPtr_t& problem);
+ (const core::Problem& problem);
template <typename T>
static GraphSteeringMethodPtr_t create
- (const core::ProblemPtr_t& problem);
+ (const core::Problem& problem);
/// Create instance and return shared pointer
- static GraphSteeringMethodPtr_t create (const ProblemPtr_t& problem);
+ static GraphSteeringMethodPtr_t create (const Problem& problem);
/// Create copy and return shared pointer
static GraphSteeringMethodPtr_t createCopy
@@ -71,7 +71,7 @@ namespace hpp {
protected:
/// Constructor
- GraphSteeringMethod (const ProblemPtr_t& problem);
+ GraphSteeringMethod (const Problem& problem);
/// Copy constructor
GraphSteeringMethod (const GraphSteeringMethod&);
@@ -86,7 +86,7 @@ namespace hpp {
private:
/// A pointer to the problem
- ProblemPtr_t problem_;
+ const Problem& problem_;
/// Weak pointer to itself
GraphSteeringMethodWkPtr_t weak_;
/// The encapsulated steering method
@@ -95,7 +95,7 @@ namespace hpp {
template <typename T>
GraphSteeringMethodPtr_t GraphSteeringMethod::create
- (const core::ProblemPtr_t& problem)
+ (const core::Problem& problem)
{
GraphSteeringMethodPtr_t gsm = GraphSteeringMethod::create (problem);
gsm->innerSteeringMethod (T::create (problem));
diff --git a/src/graph-steering-method.cc b/src/graph-steering-method.cc
index 09f42b40..c52f8e5f 100644
--- a/src/graph-steering-method.cc
+++ b/src/graph-steering-method.cc
@@ -27,16 +27,15 @@
namespace hpp {
namespace manipulation {
GraphSteeringMethodPtr_t GraphSteeringMethod::create
- (const core::ProblemPtr_t& problem)
+ (const core::Problem& problem)
{
- assert (dynamic_cast <const ProblemPtr_t> (problem) != NULL
- && "Cast to const ProblemPtr_t failed");
- const ProblemPtr_t& p = static_cast <const ProblemPtr_t> (problem);
+ dynamic_cast <const Problem&> (problem);
+ const Problem& p = static_cast <const Problem&> (problem);
return create (p);
}
GraphSteeringMethodPtr_t GraphSteeringMethod::create
- (const ProblemPtr_t& problem)
+ (const Problem& problem)
{
GraphSteeringMethod* ptr = new GraphSteeringMethod (problem);
GraphSteeringMethodPtr_t shPtr (ptr);
@@ -53,7 +52,7 @@ namespace hpp {
return shPtr;
}
- GraphSteeringMethod::GraphSteeringMethod (const ProblemPtr_t& problem) :
+ GraphSteeringMethod::GraphSteeringMethod (const Problem& problem) :
SteeringMethod (problem), problem_ (problem), weak_ ()
{
}
@@ -66,7 +65,7 @@ namespace hpp {
PathPtr_t GraphSteeringMethod::impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
{
graph::Edges_t possibleEdges;
- graph::Graph& graph = *problem_->constraintGraph ();
+ const graph::Graph& graph = *problem_.constraintGraph ();
try {
possibleEdges = graph.getEdges
(graph.getState (q1), graph.getState (q2));
diff --git a/src/problem.cc b/src/problem.cc
index 1f50bd35..4658f6bb 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -27,7 +27,7 @@ namespace hpp {
Problem::Problem (DevicePtr_t robot)
: Parent (robot), graph_()
{
- Parent::steeringMethod (GraphSteeringMethod::create (this));
+ Parent::steeringMethod (GraphSteeringMethod::create (*this));
distance (WeighedDistance::create (robot, graph_));
setPathValidationFactory(core::DiscretizedCollisionChecking::create, 0.05);
--
GitLab