Commit 1d4655fe authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Remove usage of deprecated function.

parent 6fcca837
...@@ -47,17 +47,17 @@ ps.setConstantRightHandSide ('placement', True) ...@@ -47,17 +47,17 @@ ps.setConstantRightHandSide ('placement', True)
ps.setConstantRightHandSide ('placement/complement', False) ps.setConstantRightHandSide ('placement/complement', False)
## Set constraints of nodes and edges ## Set constraints of nodes and edges
graph.setConstraints (node='placement', constraints = \ graph.addConstraints (node='placement', constraints = \
Constraints (numConstraints = ['placement'],)) Constraints (numConstraints = ['placement'],))
graph.setConstraints (node='grasp', graph.addConstraints (node='grasp',
constraints = Constraints (numConstraints = ['grasp'])) constraints = Constraints (numConstraints = ['grasp']))
graph.setConstraints (edge='transit', constraints = \ graph.addConstraints (edge='transit', constraints = \
Constraints (numConstraints = ['placement/complement'])) Constraints (numConstraints = ['placement/complement']))
graph.setConstraints (edge='grasp-ball', constraints = \ graph.addConstraints (edge='grasp-ball', constraints = \
Constraints (numConstraints = ['placement/complement'])) Constraints (numConstraints = ['placement/complement']))
# These edges are in node 'grasp' # These edges are in node 'grasp'
graph.setConstraints (edge='transfer', constraints = Constraints ()) graph.addConstraints (edge='transfer', constraints = Constraints ())
graph.setConstraints (edge='release-ball', constraints = Constraints ()) graph.addConstraints (edge='release-ball', constraints = Constraints ())
ps.selectPathValidation ("Dichotomy", 0) ps.selectPathValidation ("Dichotomy", 0)
ps.selectPathProjector ("Progressive", 0.1) ps.selectPathProjector ("Progressive", 0.1)
graph.initialize () graph.initialize ()
......
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