From b724bc3d1ee416a8468282a516050ffe7e7355e2 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 28 Jul 2017 15:46:59 +0200
Subject: [PATCH] In GraphSteeringMethod; create a inner steering method at
construction
Create SteeringMethodStraight.
---
src/graph-steering-method.cc | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/graph-steering-method.cc b/src/graph-steering-method.cc
index c52f8e5f..1e5dbe78 100644
--- a/src/graph-steering-method.cc
+++ b/src/graph-steering-method.cc
@@ -19,6 +19,7 @@
#include <hpp/util/pointer.hh>
#include <hpp/core/straight-path.hh>
+#include <hpp/core/steering-method-straight.hh>
#include <hpp/manipulation/problem.hh>
#include <hpp/manipulation/graph/graph.hh>
@@ -53,12 +54,14 @@ namespace hpp {
}
GraphSteeringMethod::GraphSteeringMethod (const Problem& problem) :
- SteeringMethod (problem), problem_ (problem), weak_ ()
+ SteeringMethod (problem), problem_ (problem), weak_ (),
+ steeringMethod_ (core::SteeringMethodStraight::create (problem))
{
}
GraphSteeringMethod::GraphSteeringMethod (const GraphSteeringMethod& other):
- SteeringMethod (other), problem_ (other.problem_)
+ SteeringMethod (other), problem_ (other.problem_), steeringMethod_
+ (other.steeringMethod_)
{
}
--
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