helper.cc

    ++i;
  }
  GraphPtr_t graph = Graph::create(graphName, ps->robot(), ps->problem());
  ps->graphs.add(graphName, graph);
  ps->constraintGraph(graphName);
  graph->stateSelector(
      GuidedStateSelector::create("stateSelector", ps->roadmap()));
  graph->maxIterations(ps->maxIterProjection());
  graph->errorThreshold(ps->errorThreshold());

  graphBuilder(ps, objects, grippers, graph, rules);
  return graph;
}
}  // namespace helper
}  // namespace graph
}  // namespace manipulation
}  // namespace hpp