Add Edge::setShort

include/hpp/manipulation/graph/edge.hh

@@ -116,6 +116,10 @@ namespace hpp {
           /// \return The initialized projector.
           ConstraintSetPtr_t configConstraint() const;
 
+          void setShort (bool isShort) {
+            isShort_ = isShort;
+          }
+
         protected:
           /// Initialization of the object.
           void init (const EdgeWkPtr_t& weak, const GraphWkPtr_t& graph, const NodeWkPtr_t& from,
@@ -136,6 +140,8 @@ namespace hpp {
           /// Print the object in a stream.
           virtual std::ostream& print (std::ostream& os) const;
 
+          bool isShort_;
+
         private:
           typedef Cache < ConstraintSetPtr_t > Constraint_t;
 

src/graph/edge.cc

@@ -34,7 +34,8 @@ namespace hpp {
     namespace graph {
       Edge::Edge (const std::string& name,
 		  const core::SteeringMethodPtr_t& steeringMethod) :
-	GraphComponent (name), pathConstraints_ (new Constraint_t()),
+	GraphComponent (name), isShort_ (false),
+        pathConstraints_ (new Constraint_t()),
 	configConstraints_ (new Constraint_t()),
 	steeringMethod_ (steeringMethod->copy ())
       {}
@@ -275,10 +276,8 @@ namespace hpp {
         ConstraintSetPtr_t c = configConstraint ();
         ConfigProjectorPtr_t proj = c->configProjector ();
         proj->rightHandSideFromConfig (qoffset);
-        if (c->apply (q)) {
-          return true;
-        }
-	assert (proj);
+        if (isShort_) q = qoffset;
+        if (c->apply (q)) return true;
 	::hpp::statistics::SuccessStatistics& ss = proj->statistics ();
 	if (ss.nbFailure () > ss.nbSuccess ()) {
 	  hppDout (warning, c->name () << " fails often." << std::endl << ss);
@@ -478,8 +477,8 @@ namespace hpp {
 	cp->updateRightHandSide ();
 
         // Eventually, do the projection.
-        if (cs->apply (q))
-          return true;
+        if (isShort_) q = q_offset;
+        if (cs->apply (q)) return true;
 	::hpp::statistics::SuccessStatistics& ss = cp->statistics ();
 	if (ss.nbFailure () > ss.nbSuccess ()) {
 	  hppDout (warning, cs->name () << " fails often." << std::endl << ss);