From fd1da58eee033b9c1ebc34632f1ce41caf8f65d4 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 21 Jul 2014 11:04:12 +0200
Subject: [PATCH] Add a pointer to the robot in graph::Graph
---
include/hpp/manipulation/graph/graph.hh | 11 ++++++++---
1 file changed, 8 insertions(+), 3 deletions(-)
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index b4a0838f..26644ba1 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -17,6 +17,7 @@
#ifndef HPP_MANIPULATION_GRAPH_GRAPH_HH
# define HPP_MANIPULATION_GRAPH_GRAPH_HH
+# include "hpp/manipulation/robot.hh"
# include "hpp/manipulation/graph/node-selector.hh"
# include "hpp/manipulation/fwd.hh"
@@ -39,11 +40,11 @@ namespace hpp {
{
public:
/// Create a new Graph.
- static GraphPtr_t create()
+ static GraphPtr_t create(RobotPtr_t robot)
{
Graph* ptr = new Graph;
GraphPtr_t shPtr (ptr);
- ptr->init (shPtr);
+ ptr->init (shPtr, robot);
return shPtr;
}
@@ -63,8 +64,9 @@ namespace hpp {
protected:
/// Initialization of the object.
- void init (const GraphWkPtr_t& weak)
+ void init (const GraphWkPtr_t& weak, RobotPtr_t robot)
{
+ robot_ = robot;
wkPtr_ = weak;
}
@@ -80,6 +82,9 @@ namespace hpp {
/// stability constraints.
ConstraintPtr_t constraints_;
+ /// Keep a pointer to the composite robot.
+ RobotPtr_t robot_;
+
/// Weak pointer to itself.
GraphWkPtr_t wkPtr_;
}; // Class Graph
--
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