In Edge::build, return false if steering method failed.

src/graph/edge.cc

@@ -281,7 +281,7 @@ namespace hpp {
         if (constraints->isSatisfied (q1)) {
           if (constraints->isSatisfied (q2)) {
             path = (*steeringMethod_->get()) (q1, q2);
-            return true;
+            return path;
           }
           hppDout(info, "q2 does not satisfy the constraints");
         }
@@ -295,7 +295,7 @@ namespace hpp {
 	  throw std::runtime_error (oss.str ().c_str ());
 	}
 	path = (*sm) (q1, q2);
-        return true;
+        return path;
       }
 
       bool Edge::applyConstraints (core::NodePtr_t nnear, ConfigurationOut_t q) const