Merge pull request #19 from jmirabel/devel

GraphSteeringMethod is built with a const Problem& (not a ProblemPtr_t)

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));

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));

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);