From bc6ac1cd05e82b628a03a19f8b1830714dcfb7fb Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 21 Apr 2022 17:22:23 +0000
Subject: [PATCH] Use vector instead of list.
---
include/hpp/manipulation/fwd.hh | 1 +
include/hpp/manipulation/graph/helper.hh | 8 ++++----
include/hpp/manipulation/problem-solver.hh | 8 ++++----
src/graph/helper.cc | 6 +++---
src/problem-solver.cc | 18 +++++++++---------
5 files changed, 21 insertions(+), 20 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 96d12d85..957ac715 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -144,6 +144,7 @@ namespace hpp {
typedef core::JointAndShapes_t JointAndShapes_t;
typedef std::list <std::string> StringList_t;
+ typedef std::vector <std::string> Strings_t;
namespace pathOptimization {
HPP_PREDEF_CLASS (SmallSteps);
diff --git a/include/hpp/manipulation/graph/helper.hh b/include/hpp/manipulation/graph/helper.hh
index f6a78e4d..cf01745a 100644
--- a/include/hpp/manipulation/graph/helper.hh
+++ b/include/hpp/manipulation/graph/helper.hh
@@ -191,15 +191,15 @@ namespace hpp {
struct ObjectDef_t {
std::string name;
- StringList_t handles, shapes;
+ Strings_t handles, shapes;
};
GraphPtr_t graphBuilder (
const ProblemSolverPtr_t& ps,
const std::string& graphName,
- const StringList_t& griNames,
- const std::list <ObjectDef_t>& objs,
- const StringList_t& envNames,
+ const Strings_t& griNames,
+ const std::vector <ObjectDef_t>& objs,
+ const Strings_t& envNames,
const Rules_t& rules,
const value_type& prePlaceWidth = 0.05);
/// \}
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 0fd9a121..dcca195c 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -91,8 +91,8 @@ namespace hpp {
/// \param margin see hpp::constraints::ConvexShapeContact::setNormalMargin
///
void createPlacementConstraint (const std::string& name,
- const StringList_t& surface1,
- const StringList_t& surface2,
+ const Strings_t& surface1,
+ const Strings_t& surface2,
const value_type& margin = 1e-4);
/// Create pre-placement constraint
@@ -103,8 +103,8 @@ namespace hpp {
/// \param margin see hpp::constraints::ConvexShapeContact::setNormalMargin
///
void createPrePlacementConstraint (const std::string& name,
- const StringList_t& surface1,
- const StringList_t& surface2,
+ const Strings_t& surface1,
+ const Strings_t& surface2,
const value_type& width,
const value_type& margin = 1e-4);
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 1a3ec310..e542b21e 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -1007,9 +1007,9 @@ namespace hpp {
GraphPtr_t graphBuilder (
const ProblemSolverPtr_t& ps,
const std::string& graphName,
- const StringList_t& griNames,
- const std::list <ObjectDef_t>& objs,
- const StringList_t& envNames,
+ const Strings_t& griNames,
+ const std::vector <ObjectDef_t>& objs,
+ const Strings_t& envNames,
const std::vector <Rule>& rules,
const value_type& prePlaceWidth)
{
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index d5c5a291..0bf22ca0 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -239,17 +239,18 @@ namespace hpp {
}
void ProblemSolver::createPlacementConstraint
- (const std::string& name, const StringList_t& surface1,
- const StringList_t& surface2, const value_type& margin)
+ (const std::string& name, const Strings_t& surface1,
+ const Strings_t& surface2, const value_type& margin)
{
bool explicit_(true);
if (!robot_) throw std::runtime_error ("No robot loaded");
JointAndShapes_t floorSurfaces, objectSurfaces, l;
- for (StringList_t::const_iterator it1 = surface1.begin ();
+ for (Strings_t::const_iterator it1 = surface1.begin ();
it1 != surface1.end(); ++it1) {
if (!robot_->jointAndShapes.has (*it1))
throw std::runtime_error ("First list of triangles not found.");
l = robot_->jointAndShapes.get (*it1);
+ objectSurfaces.insert(objectSurfaces.end(), l.begin(), l.end());
for(auto js : l){
JointPtr_t j(js.first);
// If one robot contact surface is not on a freeflying object,
@@ -261,11 +262,10 @@ namespace hpp {
{
explicit_ = false;
}
- objectSurfaces.insert(objectSurfaces.end(), l.begin(), l.end());
}
}
- for (StringList_t::const_iterator it2 = surface2.begin ();
+ for (Strings_t::const_iterator it2 = surface2.begin ();
it2 != surface2.end(); ++it2) {
// Search first robot triangles
if (robot_->jointAndShapes.has (*it2))
@@ -319,13 +319,13 @@ namespace hpp {
}
void ProblemSolver::createPrePlacementConstraint
- (const std::string& name, const StringList_t& surface1,
- const StringList_t& surface2, const value_type& width,
+ (const std::string& name, const Strings_t& surface1,
+ const Strings_t& surface2, const value_type& width,
const value_type& margin)
{
if (!robot_) throw std::runtime_error ("No robot loaded");
JointAndShapes_t floorSurfaces, objectSurfaces, l;
- for (StringList_t::const_iterator it1 = surface1.begin ();
+ for (Strings_t::const_iterator it1 = surface1.begin ();
it1 != surface1.end(); ++it1) {
if (!robot_->jointAndShapes.has (*it1))
throw std::runtime_error ("First list of triangles not found.");
@@ -333,7 +333,7 @@ namespace hpp {
objectSurfaces.insert(objectSurfaces.end(), l.begin(), l.end());
}
- for (StringList_t::const_iterator it2 = surface2.begin ();
+ for (Strings_t::const_iterator it2 = surface2.begin ();
it2 != surface2.end(); ++it2) {
// Search first robot triangles
if (robot_->jointAndShapes.has (*it2))
--
GitLab