From d76ac3fd6359b82c0fb36711fb865d9d070fae6a Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 6 Aug 2014 18:33:00 +0200
Subject: [PATCH] Insert constraints in Path.
---
src/manipulation-planner.cc | 1 +
1 file changed, 1 insertion(+)
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 4780d34c..e3071f29 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -124,6 +124,7 @@ namespace hpp {
return false;
core::SteeringMethodPtr_t sm (problem().steeringMethod());
core::PathPtr_t path = (*sm) (*q_near, qProj_);
+ path->constraints (graph->pathConstraint (edges, *q_near));
if (!path)
return false;
core::PathValidationPtr_t pathValidation (problem ().pathValidation ());
--
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