From 6605e17a1a7aba1b16c37af42d8f26f826fa29fa Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 11 Jan 2016 19:00:46 +0100
Subject: [PATCH] Update to changes in hpp-core regarding Container class
---
include/hpp/manipulation/device.hh | 7 +++++++
include/hpp/manipulation/problem-solver.hh | 7 +++++++
src/problem-solver.cc | 16 ++++++++--------
3 files changed, 22 insertions(+), 8 deletions(-)
diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index fefbe58a..fec0b6ac 100644
--- a/include/hpp/manipulation/device.hh
+++ b/include/hpp/manipulation/device.hh
@@ -67,6 +67,13 @@ namespace hpp {
return core::Container <Element>::get (name);
}
+ /// Check if a Container has a key.
+ template <typename Element>
+ bool has (const std::string& name) const
+ {
+ return core::Container <Element>::has (name);
+ }
+
/// Get the keys of a container
template <typename Element, typename ReturnType>
ReturnType getKeys () const
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index a30be804..91c0fcd1 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -136,6 +136,13 @@ namespace hpp {
return Container <Element>::get (name);
}
+ /// Check if a Container has a key.
+ template <typename Element>
+ bool has (const std::string& name) const
+ {
+ return core::Container <Element>::has (name);
+ }
+
/// Add an element to a container
template <typename Element>
void add (const std::string& name, const Element& element)
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 8772e009..6700497b 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -161,21 +161,21 @@ namespace hpp {
ConvexShapeContactComplementPtr_t > constraints
(ConvexShapeContactComplement::createPair
(name, complementName, robot_));
- JointAndShapes_t l = robot_->get <JointAndShapes_t> (surface1);
- if (l.empty ()) throw std::runtime_error
- ("First list of triangles not found.");
+ if (!robot_->has <JointAndShapes_t> (surface1))
+ throw std::runtime_error ("First list of triangles not found.");
+ JointAndShapes_t l = robot_->get <JointAndShapes_t> (surface1);
for (JointAndShapes_t::const_iterator it = l.begin ();
it != l.end(); ++it) {
constraints.first->addObject (ConvexShape (it->second, it->first));
}
+
// Search first robot triangles
- l = robot_->get <JointAndShapes_t> (surface2);
- if (l.empty ()) {
+ if (robot_->has <JointAndShapes_t> (surface2))
+ l = robot_->get <JointAndShapes_t> (surface2);
// and then environment triangles.
+ else if (has <JointAndShapes_t> (surface2))
l = get <JointAndShapes_t> (surface2);
- if (l.empty ()) throw std::runtime_error
- ("Second list of triangles not found.");
- }
+ else throw std::runtime_error ("Second list of triangles not found.");
for (JointAndShapes_t::const_iterator it = l.begin ();
it != l.end(); ++it) {
constraints.first->addFloor (ConvexShape (it->second, it->first));
--
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