From 2050ca2d86d234cde3b64fa1438ab4ff07bd068a Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 7 Nov 2017 22:14:33 +0100
Subject: [PATCH] Update to modifications in hpp-core SizeInterval_t ->
segment_t.
---
include/hpp/manipulation/graph/edge.hh | 4 +-
include/hpp/manipulation/graph/fwd.hh | 4 +-
.../hpp/manipulation/graph/graph-component.hh | 2 +-
.../hpp/manipulation/graph/state-selector.hh | 2 +-
include/hpp/manipulation/graph/state.hh | 2 +-
src/graph/edge.cc | 4 +-
src/graph/graph-component.cc | 4 +-
src/graph/helper.cc | 38 +++++++++----------
src/handle.cc | 2 -
9 files changed, 30 insertions(+), 32 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 06f485a..3bc140f 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -345,7 +345,7 @@ namespace hpp {
/// Insert a NumericalConstraint that parametrizes the foliation
void insertParamConstraint (const NumericalConstraintPtr_t& nm,
- const SizeIntervals_t& passiveDofs = SizeIntervals_t ());
+ const segments_t& passiveDofs = segments_t ());
void insertParamConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypePtr_t ineq)
HPP_MANIPULATION_DEPRECATED;
@@ -358,7 +358,7 @@ namespace hpp {
/// The manifold represented the foliation is defined by this
/// constraints.
void insertConditionConstraint (const NumericalConstraintPtr_t& nm,
- const SizeIntervals_t& passiveDofs = SizeIntervals_t ());
+ const segments_t& passiveDofs = segments_t ());
/// Insert a LockedJoint that defines the foliation
///
diff --git a/include/hpp/manipulation/graph/fwd.hh b/include/hpp/manipulation/graph/fwd.hh
index c3ce4ef..6ec846d 100644
--- a/include/hpp/manipulation/graph/fwd.hh
+++ b/include/hpp/manipulation/graph/fwd.hh
@@ -57,8 +57,8 @@ namespace hpp {
typedef hpp::core::Equality Equality;
typedef hpp::core::ComparisonTypePtr_t ComparisonTypePtr_t;
typedef hpp::core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
- typedef hpp::core::SizeIntervals_t SizeIntervals_t;
- typedef std::vector <SizeIntervals_t> IntervalsContainer_t;
+ typedef hpp::core::segments_t segments_t;
+ typedef std::vector <segments_t> IntervalsContainer_t;
typedef hpp::core::NumericalConstraints_t NumericalConstraints_t;
typedef hpp::core::LockedJoints_t LockedJoints_t;
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 8c2e2ab..b3425db 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -55,7 +55,7 @@ namespace hpp {
// for more information.
virtual void addNumericalConstraint (
const NumericalConstraintPtr_t& numConstraint,
- const SizeIntervals_t& passiveDofs = SizeIntervals_t ());
+ const segments_t& passiveDofs = segments_t ());
/// Add core::DifferentiableFunction to the component.
virtual void addNumericalConstraint
diff --git a/include/hpp/manipulation/graph/state-selector.hh b/include/hpp/manipulation/graph/state-selector.hh
index fa560dc..995df7e 100644
--- a/include/hpp/manipulation/graph/state-selector.hh
+++ b/include/hpp/manipulation/graph/state-selector.hh
@@ -52,7 +52,7 @@ namespace hpp {
/// Should never be called.
void addNumericalConstraint (
const core::NumericalConstraintPtr_t& /* function */,
- const SizeIntervals_t& /* passiveDofs */ = SizeIntervals_t ())
+ const segments_t& /* passiveDofs */ = segments_t ())
{
HPP_THROW_EXCEPTION (Bad_function_call, "This component does not have constraints.");
}
diff --git a/include/hpp/manipulation/graph/state.hh b/include/hpp/manipulation/graph/state.hh
index 5bb71b0..2a0c6fb 100644
--- a/include/hpp/manipulation/graph/state.hh
+++ b/include/hpp/manipulation/graph/state.hh
@@ -108,7 +108,7 @@ namespace hpp {
/// Add core::NumericalConstraint to the component.
virtual void addNumericalConstraintForPath (const NumericalConstraintPtr_t& nm,
- const SizeIntervals_t& passiveDofs = SizeIntervals_t ())
+ const segments_t& passiveDofs = segments_t ())
{
numericalConstraintsForPath_.push_back (nm);
passiveDofsForPath_.push_back (passiveDofs);
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 711f686..a20080f 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -726,7 +726,7 @@ namespace hpp {
}
void LevelSetEdge::insertParamConstraint (const NumericalConstraintPtr_t& nm,
- const SizeIntervals_t& passiveDofs)
+ const segments_t& passiveDofs)
{
paramNumericalConstraints_.push_back (nm);
paramPassiveDofs_.push_back (passiveDofs);
@@ -743,7 +743,7 @@ namespace hpp {
}
void LevelSetEdge::insertConditionConstraint (const NumericalConstraintPtr_t& nm,
- const SizeIntervals_t& passiveDofs)
+ const segments_t& passiveDofs)
{
condNumericalConstraints_.push_back (nm);
condPassiveDofs_.push_back (passiveDofs);
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 4e7e6c7..bce00dc 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -46,7 +46,7 @@ namespace hpp {
}
void GraphComponent::addNumericalConstraint (const NumericalConstraintPtr_t& nm,
- const SizeIntervals_t& passiveDofs)
+ const segments_t& passiveDofs)
{
numericalConstraints_.push_back(nm);
passiveDofs_.push_back (passiveDofs);
@@ -99,7 +99,7 @@ namespace hpp {
return numericalConstraints_;
}
- const std::vector <SizeIntervals_t>& GraphComponent::passiveDofs() const
+ const std::vector <segments_t>& GraphComponent::passiveDofs() const
{
return passiveDofs_;
}
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 13762cd..fd48f6d 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -446,22 +446,22 @@ namespace hpp {
{
NumericalConstraintPtr_t gc = handle->createGrasp (gripper);
grasp.nc.nc.push_back (gc);
- grasp.nc.pdof.push_back (SizeIntervals_t ());
+ grasp.nc.pdof.push_back (segments_t ());
grasp.nc_path.nc.push_back (gc);
// TODO: see function declaration
- grasp.nc_path.pdof.push_back (SizeIntervals_t ());
+ grasp.nc_path.pdof.push_back (segments_t ());
NumericalConstraintPtr_t gcc = handle->createGraspComplement (gripper);
if (gcc->function ().outputSize () > 0) {
grasp.nc_fol.nc.push_back (gcc);
- grasp.nc_fol.pdof.push_back (SizeIntervals_t());
+ grasp.nc_fol.pdof.push_back (segments_t());
}
const value_type c = handle->clearance () + gripper->clearance ();
NumericalConstraintPtr_t pgc = handle->createPreGrasp (gripper, c);
pregrasp.nc.nc.push_back (pgc);
- pregrasp.nc.pdof.push_back (SizeIntervals_t());
+ pregrasp.nc.pdof.push_back (segments_t());
pregrasp.nc_path.nc.push_back (pgc);
- pregrasp.nc_path.pdof.push_back (SizeIntervals_t());
+ pregrasp.nc_path.pdof.push_back (segments_t());
}
void strictPlacementManifold (
@@ -471,18 +471,18 @@ namespace hpp {
FoliatedManifold& place, FoliatedManifold& preplace)
{
place.nc.nc.push_back (placement);
- place.nc.pdof.push_back (SizeIntervals_t());
+ place.nc.pdof.push_back (segments_t());
place.nc_path.nc.push_back (placement);
- place.nc_path.pdof.push_back (SizeIntervals_t());
+ place.nc_path.pdof.push_back (segments_t());
if (placementComplement && placementComplement->function().outputSize () > 0) {
place.nc_fol.nc.push_back (placementComplement);
- place.nc_fol.pdof.push_back (SizeIntervals_t());
+ place.nc_fol.pdof.push_back (segments_t());
}
preplace.nc.nc.push_back (preplacement);
- preplace.nc.pdof.push_back (SizeIntervals_t());
+ preplace.nc.pdof.push_back (segments_t());
preplace.nc_path.nc.push_back (preplacement);
- preplace.nc_path.pdof.push_back (SizeIntervals_t());
+ preplace.nc_path.pdof.push_back (segments_t());
}
void relaxedPlacementManifold (
@@ -493,21 +493,21 @@ namespace hpp {
{
if (placement) {
place.nc.nc.push_back (placement);
- place.nc.pdof.push_back (SizeIntervals_t());
+ place.nc.pdof.push_back (segments_t());
// The placement constraints are not required in the path, as long as
// they are satisfied at both ends and the object does not move. The
// former condition is ensured by the placement constraints on both
// ends and the latter is ensure by the LockedJoint constraints.
place.nc_path.nc.push_back (placement);
- place.nc_path.pdof.push_back (SizeIntervals_t());
+ place.nc_path.pdof.push_back (segments_t());
}
std::copy (objectLocks.begin(), objectLocks.end(), std::back_inserter(place.lj_fol));
if (placement && preplacement) {
preplace.nc.nc.push_back (preplacement);
- preplace.nc.pdof.push_back (SizeIntervals_t());
+ preplace.nc.pdof.push_back (segments_t());
// preplace.nc_path.nc.push_back (preplacement);
- // preplace.nc_path.pdof.push_back (SizeIntervals_t());
+ // preplace.nc_path.pdof.push_back (segments_t());
}
}
@@ -746,19 +746,19 @@ namespace hpp {
boost::array<NumericalConstraintPtr_t,3>& gcs
= graspConstraint (iG, iOH);
grasp.nc.nc.push_back (gcs[0]);
- grasp.nc.pdof.push_back (SizeIntervals_t ());
+ grasp.nc.pdof.push_back (segments_t ());
grasp.nc_path.nc.push_back (gcs[0]);
// TODO: see function declaration
- grasp.nc_path.pdof.push_back (SizeIntervals_t ());
+ grasp.nc_path.pdof.push_back (segments_t ());
if (gcs[1]->function ().outputSize () > 0) {
grasp.nc_fol.nc.push_back (gcs[1]);
- grasp.nc_fol.pdof.push_back (SizeIntervals_t());
+ grasp.nc_fol.pdof.push_back (segments_t());
}
pregrasp.nc.nc.push_back (gcs[2]);
- pregrasp.nc.pdof.push_back (SizeIntervals_t());
+ pregrasp.nc.pdof.push_back (segments_t());
pregrasp.nc_path.nc.push_back (gcs[2]);
- pregrasp.nc_path.pdof.push_back (SizeIntervals_t());
+ pregrasp.nc_path.pdof.push_back (segments_t());
}
};
diff --git a/src/handle.cc b/src/handle.cc
index d7cd871..6d1edda 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -55,8 +55,6 @@ namespace hpp {
using core::ExplicitNumericalConstraint;
using constraints::DifferentiableFunction;
- using core::SizeInterval_t;
- using core::SizeIntervals_t;
bool isHandleOnR3SO3 (const Handle& handle)
{
--
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