Fix bug regarding class pathProjector::Dichotomy

src/manipulation-planner.cc

@@ -124,7 +124,7 @@ namespace hpp {
         if (!projPath || projPath->length () == 0) return false;
       }
       GraphPathValidationPtr_t pathValidation (problem_.pathValidation ());
-      pathValidation->validate (path, false, validPath);
+      pathValidation->validate (projPath, false, validPath);
       if (validPath->length () == 0)
         addFailure (PATH_VALIDATION, edge);
       else {

src/path-projector.cc

@@ -54,7 +54,9 @@ namespace hpp {
           }
           res->appendPath (part);
         }
+        proj = res;
       }
+      assert (proj);
       return true;
     }
   } // namespace manipulation