From 27609aaa38d82223866257ee9010a44932b92abd Mon Sep 17 00:00:00 2001
From: Akseppal <seppala@laas.fr>
Date: Wed, 6 Jan 2016 11:27:25 +0100
Subject: [PATCH] Corrected manipulation::ConnectedComponent::addNode argument.
Compiles and runs.
---
include/hpp/manipulation/connected-component.hh | 2 +-
src/connected-component.cc | 11 ++++++-----
2 files changed, 7 insertions(+), 6 deletions(-)
diff --git a/include/hpp/manipulation/connected-component.hh b/include/hpp/manipulation/connected-component.hh
index 4dbc5ea2..a27c6cf2 100644
--- a/include/hpp/manipulation/connected-component.hh
+++ b/include/hpp/manipulation/connected-component.hh
@@ -55,7 +55,7 @@ class HPP_MANIPULATION_DLLAPI ConnectedComponent : public core::ConnectedCompone
/// Add roadmap node to connected component
/// \param roadmap node to be added
- void addNode (const RoadmapNodePtr_t& node);
+ void addNode (const core::NodePtr_t& node);
RoadmapNodes_t getRoadmapNodes (const graph::NodePtr_t graphNode);
diff --git a/src/connected-component.cc b/src/connected-component.cc
index dd230296..3c2a3fe1 100644
--- a/src/connected-component.cc
+++ b/src/connected-component.cc
@@ -61,19 +61,20 @@ namespace hpp {
other->graphNodeMap_.clear();
}
- void ConnectedComponent::addNode(const RoadmapNodePtr_t& node)
+ void ConnectedComponent::addNode(const core::NodePtr_t& node)
{
core::ConnectedComponent::addNode(node);
// Find right graph node in map and add roadmap node to corresponding vector
- GraphNodes_t::iterator mapIt = graphNodeMap_.find(roadmap_->getNode(node));
+ const RoadmapNodePtr_t& n = static_cast <const RoadmapNodePtr_t> (node);
+ GraphNodes_t::iterator mapIt = graphNodeMap_.find(roadmap_->getNode(n));
if (mapIt != graphNodeMap_.end()) {
- mapIt->second.push_back(node);
+ mapIt->second.push_back(n);
// if graph node not found, add new map element with one roadmap node
} else {
RoadmapNodes_t newRoadmapNodeVector;
- newRoadmapNodeVector.push_back(node);
+ newRoadmapNodeVector.push_back(n);
graphNodeMap_.insert(std::pair<graph::NodePtr_t, RoadmapNodes_t>
- (roadmap_->getNode(node), newRoadmapNodeVector));
+ (roadmap_->getNode(n), newRoadmapNodeVector));
}
}
--
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