From ef7d6005bff2f83066903db00c514a8fe67bebed Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 14 Dec 2015 17:16:03 +0100
Subject: [PATCH] Problem uses manipulation::WeighedDistance
---
include/hpp/manipulation/problem.hh | 7 +------
src/problem.cc | 12 ++++++++++++
2 files changed, 13 insertions(+), 6 deletions(-)
diff --git a/include/hpp/manipulation/problem.hh b/include/hpp/manipulation/problem.hh
index ec6ec64f..f7384192 100644
--- a/include/hpp/manipulation/problem.hh
+++ b/include/hpp/manipulation/problem.hh
@@ -38,12 +38,7 @@ namespace hpp {
Problem (DevicePtr_t robot);
/// Set the graph of constraints
- void constraintGraph (const graph::GraphPtr_t& graph)
- {
- graph_ = graph;
- if (pathValidation ())
- pathValidation ()->constraintGraph (graph);
- }
+ void constraintGraph (const graph::GraphPtr_t& graph);
/// Get the graph of constraints
graph::GraphPtr_t constraintGraph () const
diff --git a/src/problem.cc b/src/problem.cc
index ba00d23c..7758f09c 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -15,6 +15,7 @@
// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
#include <hpp/manipulation/problem.hh>
+#include <hpp/manipulation/weighed-distance.hh>
#include <hpp/manipulation/graph-steering-method.hh>
namespace hpp {
@@ -23,6 +24,17 @@ namespace hpp {
: Parent (robot), graph_()
{
Parent::steeringMethod (GraphSteeringMethod::create (this));
+ distance (WeighedDistance::create (robot, graph_));
+ }
+
+ void Problem::constraintGraph (const graph::GraphPtr_t& graph)
+ {
+ graph_ = graph;
+ if (pathValidation ())
+ pathValidation ()->constraintGraph (graph);
+ WeighedDistancePtr_t d = HPP_DYNAMIC_PTR_CAST (WeighedDistance,
+ distance ());
+ if (d) d->constraintGraph (graph);
}
GraphPathValidationPtr_t Problem::pathValidation () const
--
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