Follow previous changes.

src/graph-path-validation.cc

@@ -92,7 +92,8 @@ namespace hpp {
       // We check for all of them if both nodes are on the same leaf.
       ConstraintSetPtr_t constraints;
       while (!possibleEdges.empty ()) {
-        constraints = constraintGraph_->pathConstraint (possibleEdges.back(), configAt (tmin));
+        constraints = constraintGraph_->pathConstraint (possibleEdges.back());
+        constraints->offsetFromConfig(configAt (tmin));
         if (constraints->isSatisfied (configAt (tmax))) {
           validPart = path;
           return true;

src/graph-steering-method.cc

@@ -36,7 +36,8 @@ namespace hpp {
         graph_->getEdge (graph_->getNode (q1), graph_->getNode (q2));
       ConstraintSetPtr_t constraints;
       while (!possibleEdges.empty()) {
-        constraints = graph_->pathConstraint (possibleEdges.back(), q1);
+        constraints = graph_->pathConstraint (possibleEdges.back());
+        constraints->offsetFromConfig(q1);
         if (constraints->isSatisfied (q2)) {
           path->constraints (constraints);
           break;

src/manipulation-planner.cc

@@ -102,7 +102,8 @@ namespace hpp {
       // Select next node in the constraint graph.
       graph::Nodes_t nodes = graph->getNode (*q_near);
       graph::Edges_t edges = graph->chooseEdge (nodes);
-      ConstraintPtr_t constraint = graph->configConstraint (edges, *q_near);
+      ConstraintPtr_t constraint = graph->configConstraint (edges);
+      constraint->offsetFromConfig (*q_near);
       qProj_ = *q_rand;
       if (!constraint->apply (qProj_)) {
         addFailure (PROJECTION, edges);
@@ -114,7 +115,7 @@ namespace hpp {
         addFailure (STEERING_METHOD, edges);
         return false;
       }
-      path->constraints (graph->pathConstraint (edges, *q_near));
+      path->constraints (graph->pathConstraint (edges));
       core::PathValidationPtr_t pathValidation (problem ().pathValidation ());
       pathValidation->validate (path, false, validPath);
       if (validPath->length () == 0)