From 60d3ac7471deb33b4794a3cb1a1f5dc2fc6fae3c Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 27 Oct 2017 17:50:03 +0200
Subject: [PATCH] In automatic graph construction, check if an object has
joints.
---
src/graph/helper.cc | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 7fa58624..a2d96560 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -690,9 +690,10 @@ namespace hpp {
}
/// Check if an object can be placed
- bool objectCanBePlaced (const Object_t&) const
+ bool objectCanBePlaced (const Object_t& o) const
{
- return true; // o.get<0>().get<0>();
+ // If the object has no joint, then it cannot be placed.
+ return (o.get<0>().get<2>().size() > 0);
}
/// Check is an object is grasped by the GraspV_t
--
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