From 1a536f4359847ce000b35e79475158abb0463a34 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 12 Apr 2018 16:03:14 +0200
Subject: [PATCH] Update to changes into
hpp::core::pathOptimization::SplineGradientBased
---
.../path-optimization/spline-gradient-based.hh | 12 ++++++------
src/path-optimization/spline-gradient-based.cc | 10 +++++-----
2 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/include/hpp/manipulation/path-optimization/spline-gradient-based.hh b/include/hpp/manipulation/path-optimization/spline-gradient-based.hh
index e595b3b..246dd5b 100644
--- a/include/hpp/manipulation/path-optimization/spline-gradient-based.hh
+++ b/include/hpp/manipulation/path-optimization/spline-gradient-based.hh
@@ -40,9 +40,9 @@ namespace hpp {
Parent_t;
typedef boost::shared_ptr<SplineGradientBased> Ptr_t;
- typedef typename Parent_t::Spline Spline;
- typedef typename Parent_t::SplinePtr_t SplinePtr_t;
- typedef typename Parent_t::Splines_t Splines_t;
+ using typename Parent_t::Spline;
+ using typename Parent_t::SplinePtr_t;
+ using typename Parent_t::Splines_t;
/// Return shared pointer to new object.
static Ptr_t create (const Problem& problem);
@@ -54,15 +54,15 @@ namespace hpp {
static Ptr_t createFromCore (const core::Problem& problem);
protected:
- typedef typename Parent_t::LinearConstraint LinearConstraint;
- typedef typename Parent_t::Solvers_t Solvers_t;
+ typedef typename hpp::core::pathOptimization::LinearConstraint LinearConstraint;
+ using typename Parent_t::SplineOptimizationDatas_t;
SplineGradientBased (const Problem& problem);
virtual void initializePathValidation(const Splines_t& splines);
virtual void addProblemConstraints (const core::PathVectorPtr_t& init,
- const Splines_t& splines, LinearConstraint& lc, Solvers_t& ess) const;
+ const Splines_t& splines, LinearConstraint& lc, SplineOptimizationDatas_t& sods) const;
virtual void constrainEndIntoState (const core::PathPtr_t& path,
const size_type& idxSpline, const SplinePtr_t& spline,
diff --git a/src/path-optimization/spline-gradient-based.cc b/src/path-optimization/spline-gradient-based.cc
index 288e959..d7b169e 100644
--- a/src/path-optimization/spline-gradient-based.cc
+++ b/src/path-optimization/spline-gradient-based.cc
@@ -16,7 +16,7 @@
#include <hpp/manipulation/path-optimization/spline-gradient-based.hh>
-#include <hpp/core/path-optimization/spline-gradient-based/linear-constraint.hh>
+#include <hpp/core/path-optimization/linear-constraint.hh>
#include <hpp/manipulation/constraint-set.hh>
#include <hpp/manipulation/graph/state.hh>
@@ -70,9 +70,9 @@ namespace hpp {
template <int _PB, int _SO>
void SplineGradientBased<_PB, _SO>::addProblemConstraints
- (const core::PathVectorPtr_t& init, const Splines_t& splines, LinearConstraint& lc, Solvers_t& ss) const
+ (const core::PathVectorPtr_t& init, const Splines_t& splines, LinearConstraint& lc, SplineOptimizationDatas_t& sods) const
{
- assert (init->numberPaths() == splines.size() && ss.size() == splines.size());
+ assert (init->numberPaths() == splines.size() && sods.size() == splines.size());
bool zeroDerivative = this->problem().getParameter ("SplineGradientBased/zeroDerivativesAtStateIntersection", false);
@@ -86,7 +86,7 @@ namespace hpp {
"generated with a graph.");
graph::EdgePtr_t transition = set->edge();
- this->addProblemConstraintOnPath (path, i, splines[i], lc, ss[i]);
+ this->addProblemConstraintOnPath (path, i, splines[i], lc, sods[i]);
// The path should always go through the start and end states of the
// transition.
@@ -164,7 +164,7 @@ namespace hpp {
}
}
}
- this->addProblemConstraintOnPath (init->pathAtRank(last), last, splines[last], lc, ss[last]);
+ this->addProblemConstraintOnPath (init->pathAtRank(last), last, splines[last], lc, sods[last]);
}
template <int _PB, int _SO>
--
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