From 5ed9eb9711f88e09c42a0d5f517754f5dea9a0d9 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 17 May 2016 18:39:04 +0200
Subject: [PATCH] Update headers to changes in hpp-constraints
(GenericTransformation)
---
src/axial-handle.cc | 2 +-
src/handle.cc | 3 +--
tests/path-projection.cc | 7 +++----
3 files changed, 5 insertions(+), 7 deletions(-)
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 945e3173..baa84d88 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -26,7 +26,7 @@
#include <hpp/model/joint.hh>
#include <hpp/model/gripper.hh>
-#include <hpp/constraints/relative-transformation.hh>
+#include <hpp/constraints/generic-transformation.hh>
#include <hpp/core/numerical-constraint.hh>
diff --git a/src/handle.cc b/src/handle.cc
index 16b4b2d4..df82081e 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -29,8 +29,7 @@
#include <hpp/model/joint.hh>
#include <hpp/model/gripper.hh>
-#include <hpp/constraints/relative-position.hh>
-#include <hpp/constraints/relative-transformation.hh>
+#include <hpp/constraints/generic-transformation.hh>
#include <hpp/core/numerical-constraint.hh>
#include <hpp/core/explicit-numerical-constraint.hh>
diff --git a/tests/path-projection.cc b/tests/path-projection.cc
index b2844191..af720443 100644
--- a/tests/path-projection.cc
+++ b/tests/path-projection.cc
@@ -36,7 +36,7 @@
#include <hpp/model/configuration.hh>
#include <hpp/model/object-factory.hh>
-#include <hpp/constraints/position.hh>
+#include <hpp/constraints/generic-transformation.hh>
#define REQUIRE_MESSAGE(b,m) do {\
if (!b) {\
@@ -79,8 +79,6 @@ using hpp::core::pathProjector::Progressive;
using hpp::core::Problem;
using hpp::core::ProblemPtr_t;
-static matrix3_t identity () { matrix3_t R; R.setIdentity (); return R;}
-
hpp::model::ObjectFactory objectFactory;
namespace hpp_test {
@@ -177,7 +175,8 @@ int main (int , char**) {
JointPtr_t ee = r->getJointByName ("FOREARM");
vector3_t target (0, (ARM_LENGTH + FOREARM_LENGTH ) / 2, 0),
origin (0, FOREARM_LENGTH, 0);
- PositionPtr_t c = Position::create (r, ee, origin, target, identity (), list_of (false)(true)(false));
+ PositionPtr_t c = Position::create ("Pos", r, ee, origin, target,
+ list_of (false)(true)(false).convert_to_container<std::vector<bool> >());
ConstraintSetPtr_t cs = ConstraintSet::create (r, "test-cs");
ConfigProjectorPtr_t proj = ConfigProjector::create (r, "test", 1e-4, 20);
proj->add (NumericalConstraint::create (c));
--
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