create affordance map object within bindShooter (). Initialised only in...

create affordance map object within bindShooter (). Initialised only in createPathValidation --> is this a good idea?

src/rbprmbuilder.impl.hh

@@ -46,14 +46,11 @@ namespace hpp {
         hpp::rbprm::RbPrmShooterPtr_t create (const hpp::model::DevicePtr_t& robot)
         {
             hpp::model::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::model::RbPrmDevice>(robot);
-						std::map<std::string, std::vector<boost::shared_ptr<model::CollisionObject> > > affMap =
-						problemSolver_->map
-							<std::vector<boost::shared_ptr<model::CollisionObject> > > ();
-		        if (affMap.empty ()) {
+		        if (affMap_.empty ()) {
     	        throw hpp::Error ("No affordances found. Unable to create shooter object.");
       		  }
             rbprm::RbPrmShooterPtr_t shooter = hpp::rbprm::RbPrmShooter::create
-                    (robotcast, problemSolver_->problem ()->collisionObstacles(), affMap,
+                    (robotcast, problemSolver_->problem ()->collisionObstacles(), affMap_,
 										romFilter_,affFilter_,shootLimit_,displacementLimit_);
             if(!so3Bounds_.empty())
                 shooter->BoundSO3(so3Bounds_);
@@ -63,7 +60,13 @@ namespace hpp {
         hpp::core::PathValidationPtr_t createPathValidation (const hpp::model::DevicePtr_t& robot, const hpp::model::value_type& val)
         {
             hpp::model::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::model::RbPrmDevice>(robot);
-            hpp::rbprm::RbPrmValidationPtr_t validation(hpp::rbprm::RbPrmValidation::create(robotcast, romFilter_, affFilter_));
+						affMap_ = problemSolver_->map
+							<std::vector<boost::shared_ptr<model::CollisionObject> > > ();
+		        if (affMap_.empty ()) {
+    	        throw hpp::Error ("No affordances found. Unable to create Path Validaton object.");
+      		  }
+            hpp::rbprm::RbPrmValidationPtr_t validation
+							(hpp::rbprm::RbPrmValidation::create(robotcast, romFilter_, affFilter_, affMap_));
             hpp::core::DiscretizedCollisionCheckingPtr_t collisionChecking = hpp::core::DiscretizedCollisionChecking::create(robot,val);
             collisionChecking->add (validation);
             return collisionChecking;
@@ -75,6 +78,7 @@ namespace hpp {
         std::size_t shootLimit_;
         std::size_t displacementLimit_;
         std::vector<double> so3Bounds_;
+				std::map<std::string, std::vector<boost::shared_ptr<model::CollisionObject> > > affMap_;
     };
 
       class RbprmBuilder : public virtual POA_hpp::corbaserver::rbprm::RbprmBuilder