Reimplement ProblemSolver::initializeProblem

include/hpp/manipulation/problem-solver.hh

@@ -158,6 +158,9 @@ namespace hpp {
 	return problem_;
       }
 
+    protected:
+      void initializeProblem (ProblemPtr_t problem);
+
     private:
       typedef std::map <const std::string, DevicePtr_t> RobotsandObjects_t;
       RobotPtr_t robot_;

src/problem-solver.cc

@@ -78,11 +78,13 @@ namespace hpp {
     {
       if (problem_)
         delete (problem_);
-      problem_ = new Problem (robot_);
-      roadmap (core::Roadmap::create (problem_->distance (), problem_->robot()));
-      problem_->constraints ();
-      problem_->constraintGraph (constraintGraph_);
-      core::ProblemSolver::problem (problem_);
+      initializeProblem (new Problem (robot_));
+    }
+
+    void ProblemSolver::initializeProblem (ProblemPtr_t problem)
+    {
+      problem_ = problem;
+      core::ProblemSolver::initializeProblem (problem_);
     }
 
     void ProblemSolver::constraintGraph (const graph::GraphPtr_t& graph)