From e71c764c91167ca8bcffb55031f0abdf405b7edd Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 29 Mar 2016 11:12:23 +0200
Subject: [PATCH] Remove GraphOptimizer::unpack and use PathVector::flatten
instead
---
include/hpp/manipulation/graph-optimizer.hh | 5 -----
src/graph-optimizer.cc | 15 +--------------
2 files changed, 1 insertion(+), 19 deletions(-)
diff --git a/include/hpp/manipulation/graph-optimizer.hh b/include/hpp/manipulation/graph-optimizer.hh
index 13514642..752fbf0c 100644
--- a/include/hpp/manipulation/graph-optimizer.hh
+++ b/include/hpp/manipulation/graph-optimizer.hh
@@ -71,11 +71,6 @@ namespace hpp {
/// The encapsulated PathOptimizer
PathOptimizerPtr_t pathOptimizer_;
-
- /// Append all paths of in to out
- /// \param in a path vector, possibly containing other path vector
- /// \param out a flat PathVector (do not contain PathVector)
- static void unpack (PathVectorPtr_t in, PathVectorPtr_t out);
};
/// \}
diff --git a/src/graph-optimizer.cc b/src/graph-optimizer.cc
index 39723180..fce049ee 100644
--- a/src/graph-optimizer.cc
+++ b/src/graph-optimizer.cc
@@ -31,7 +31,7 @@ namespace hpp {
GraphPathValidationPtr_t gpv = HPP_DYNAMIC_PTR_CAST (GraphPathValidation,
this->problem().pathValidation ());
const_cast <core::Problem&>(this->problem ()).pathValidation (gpv->innerValidation());
- unpack (path, expanded);
+ path->flatten (expanded);
ConstraintSetPtr_t c;
for (std::size_t i_s = 0; i_s < expanded->numberPaths ();) {
PathVectorPtr_t toOpt = PathVector::create (
@@ -58,18 +58,5 @@ namespace hpp {
const_cast <core::Problem&>(this->problem ()).pathValidation (gpv);
return opted;
}
-
- void GraphOptimizer::unpack (PathVectorPtr_t in, PathVectorPtr_t out)
- {
- for (size_t i = 0; i != in->numberPaths (); i++) {
- PathPtr_t current = in->pathAtRank (i);
- PathVectorPtr_t pv = HPP_DYNAMIC_PTR_CAST (PathVector, current);
- if (pv) {
- unpack (pv, out);
- } else {
- out->appendPath (current);
- }
- }
- }
} // namespace manipulation
} // namespace hpp
--
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