From 8e7e20d9a68ad7e2b44260f98b3fe78e5b8e5cee Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 8 Sep 2017 17:08:13 +0200
Subject: [PATCH] Move lockedJointPtr_t to hpp-core in
hpp::manipulation::ProblemSolver
Thus locked joints can be handled in hpp-corbaserver.
---
include/hpp/manipulation/fwd.hh | 7 ++++---
include/hpp/manipulation/problem-solver.hh | 6 +-----
src/graph/helper.cc | 2 +-
src/problem-solver.cc | 10 +++++-----
4 files changed, 11 insertions(+), 14 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 18947580..9cf66ac5 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -121,9 +121,10 @@ namespace hpp {
typedef std::list < NumericalConstraintPtr_t > NumericalConstraints_t;
- typedef std::vector<core::vector3_t> Shape_t;
- typedef std::pair <JointPtr_t, Shape_t> JointAndShape_t;
- typedef std::list <JointAndShape_t> JointAndShapes_t;
+ typedef core::Shape_t Shape_t;
+ typedef core::JointAndShape_t JointAndShape_t;
+ typedef core::JointAndShapes_t JointAndShapes_t;
+
typedef std::list <std::string> StringList_t;
namespace pathOptimization {
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index e763ac2f..ecf3fd16 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -30,13 +30,9 @@
namespace hpp {
namespace manipulation {
class HPP_MANIPULATION_DLLAPI ProblemSolver :
- public core::ProblemSolver,
- public core::Containers <
- boost::mpl::vector <LockedJointPtr_t, JointAndShapes_t> >
+ public core::ProblemSolver
{
public:
- typedef core::Containers < boost::mpl::vector
- <LockedJointPtr_t, JointAndShapes_t> > ThisC_t;
typedef core::ProblemSolver parent_t;
typedef std::vector <std::string> Names_t;
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 1c339351..53f8c738 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -1080,7 +1080,7 @@ namespace hpp {
LockedJointPtr_t lj = core::LockedJoint::create (oj,
robot.currentConfiguration()
.segment (oj->rankInConfiguration (), oj->configSize ()));
- ps->ProblemSolver::ThisC_t::add <LockedJointPtr_t> ("lock_" + oj->name (), lj);
+ ps->add <LockedJointPtr_t> ("lock_" + oj->name (), lj);
objects[i].get<0> ().get<2> ().push_back (lj);
}
++i;
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index c921308e..3d558ffe 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -33,7 +33,7 @@
#include <hpp/core/path-projector/global.hh>
#include <hpp/core/path-projector/recursive-hermite.hh>
#include <hpp/core/roadmap.hh>
-#include <hpp/core/steering-method-straight.hh>
+#include <hpp/core/steering-method/straight.hh>
#include <hpp/core/comparison-type.hh>
#include "hpp/manipulation/package-config.hh" // HPP_MANIPULATION_HAS_WHOLEBODY_STEP
@@ -217,8 +217,8 @@ namespace hpp {
if (robot_->has <JointAndShapes_t> (*it2))
l = robot_->get <JointAndShapes_t> (*it2);
// and then environment triangles.
- else if (ThisC_t::has <JointAndShapes_t> (*it2))
- l = ThisC_t::get <JointAndShapes_t> (*it2);
+ else if (core::ProblemSolver::has <JointAndShapes_t> (*it2))
+ l = core::ProblemSolver::get <JointAndShapes_t> (*it2);
else throw std::runtime_error ("Second list of triangles not found.");
for (JointAndShapes_t::const_iterator it = l.begin ();
it != l.end(); ++it) {
@@ -265,8 +265,8 @@ namespace hpp {
if (robot_->has <JointAndShapes_t> (*it2))
l = robot_->get <JointAndShapes_t> (*it2);
// and then environment triangles.
- else if (ThisC_t::has <JointAndShapes_t> (*it2))
- l = ThisC_t::get <JointAndShapes_t> (*it2);
+ else if (has <JointAndShapes_t> (*it2))
+ l = get <JointAndShapes_t> (*it2);
else throw std::runtime_error ("Second list of triangles not found.");
for (JointAndShapes_t::const_iterator it = l.begin ();
--
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