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Commit 14d10485 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
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WaypointEdge::build does not return a cascade of PathVector

parent 0d9bffcd
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with 5 additions and 2 deletions
src/graph/edge.cc
+ 5
− 2
View file @ 14d10485
...@@ -197,9 +197,12 @@ namespace hpp { ...@@ -197,9 +197,12 @@ namespace hpp {
return false; return false;
if (!waypoint_.first->build (pathToWaypoint, q1, config_, d)) if (!waypoint_.first->build (pathToWaypoint, q1, config_, d))
return false; return false;
core::PathVectorPtr_t pv = core::PathVector::create (graph_.lock ()->robot ()->configSize ()); core::PathVectorPtr_t pv = HPP_DYNAMIC_PTR_CAST (core::PathVector, pathToWaypoint);
if (!pv) {
pv = core::PathVector::create (graph_.lock ()->robot ()->configSize ());
pv->appendPath (pathToWaypoint);
}
path = pv; path = pv;
pv->appendPath (pathToWaypoint);
core::PathPtr_t end; core::PathPtr_t end;
if (!Edge::build (end, config_, q2, d)) if (!Edge::build (end, config_, q2, d))
......
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