From 045bf0dc08bfc27df24699777ac3b44500ca3443 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 18 Aug 2016 17:19:55 +0200
Subject: [PATCH] Fix makeLSEgrasp and makeLSEplace
---
src/graph/helper.cc | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 46faba9..c9a6fe7 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -192,10 +192,10 @@ namespace hpp {
we->nbWaypoints (nbWaypoints);
gls = linkWaypoint <LevelSetEdge> (n, T-1, T, name, "ls");
for (std::size_t i = 0; i < Nedges - 1; ++i)
- we->setWaypoint (Nedges - 1 - i, e[i], n[i]);
+ we->setWaypoint (i, e[i], n[i]);
we->setWaypoint (T-1, gls, n[T]);
gls->node (n.front());
- gls->setShort (preplace);
+ gls->setShort (pregrasp);
return we;
} else {
assert (gCase == (GraspOnly | NoPlace)
@@ -225,8 +225,8 @@ namespace hpp {
pls->setShort (preplace);
return we;
} else {
- assert (gCase == (GraspOnly | NoPlace)
- && "Cannot implement a LevelSetEdge for grasping");
+ assert (gCase == (NoGrasp | PlaceOnly)
+ && "Cannot implement a LevelSetEdge for placement");
pls = boost::static_pointer_cast <LevelSetEdge>
(n.back()->linkTo (name + "_ls", n.front(), w,
LevelSetEdge::create));
--
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