Add parameter ManipulationPlanner/ExtendStep

include/hpp/manipulation/manipulation-planner.hh

@@ -116,7 +116,7 @@ namespace hpp {
         };
         static const std::vector<Reason> reasons_;
 
-        const value_type extendStep_;
+        value_type extendStep_;
 
         mutable Configuration_t qProj_;
     };

src/manipulation-planner.cc

@@ -449,7 +449,7 @@ namespace hpp {
       core::PathPlanner (problem, roadmap),
       shooter_ (problem.configurationShooter()),
       problem_ (problem), roadmap_ (roadmap),
-      extendStep_ (1),
+      extendStep_ (problem.getParameter<value_type>("ManipulationPlanner/ExtendStep", 1)),
       qProj_ (problem.robot ()->configSize ())
     {}
 

src/problem.cc

@@ -30,6 +30,8 @@ namespace hpp {
       Parent::steeringMethod (GraphSteeringMethod::create (this));
       distance (WeighedDistance::create (robot, graph_));
       setPathValidationFactory(core::DiscretizedCollisionChecking::create, 0.05);
+
+      // add<boost::any>("ManipulationPlanner/ExtendStep", (value_type)1);
     }
 
     void Problem::constraintGraph (const graph::GraphPtr_t& graph)