From 24dbd8f0ae5f3c68ee45c9c7255b4521dee5dbf8 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 8 Aug 2014 17:52:10 +0200
Subject: [PATCH] Update class Problem to use GraphPathValidation
---
include/hpp/manipulation/problem.hh | 14 +++++++++++++-
1 file changed, 13 insertions(+), 1 deletion(-)
diff --git a/include/hpp/manipulation/problem.hh b/include/hpp/manipulation/problem.hh
index 3d13961..615b429 100644
--- a/include/hpp/manipulation/problem.hh
+++ b/include/hpp/manipulation/problem.hh
@@ -18,6 +18,7 @@
#include "hpp/manipulation/robot.hh"
#include "hpp/manipulation/graph/graph.hh"
+#include "hpp/manipulation/graph-path-validation.hh"
#include "hpp/manipulation/fwd.hh"
namespace hpp {
@@ -25,16 +26,22 @@ namespace hpp {
class HPP_MANIPULATION_DLLAPI Problem : public core::Problem
{
public:
+ typedef core::Problem Parent;
+
/// Constructor
Problem (RobotPtr_t robot) : core::Problem (robot),
- graph_()
+ graph_()
{
+ Parent::pathValidation (GraphPathValidation::create (Parent::pathValidation(), graph_));
}
/// Set the graph of constraints
void constraintGraph (const graph::GraphPtr_t& graph)
{
graph_ = graph;
+ GraphPathValidationPtr_t graphValidation = pathValidation();
+ if (graphValidation)
+ graphValidation->constraintGraph(graph);
}
/// Get the graph of constraints
@@ -51,6 +58,11 @@ namespace hpp {
throw std::runtime_error ("No graph in the problem.");
}
+ /// Get the path validation as a GraphPathValidation
+ GraphPathValidationPtr_t pathValidation ()
+ {
+ return HPP_DYNAMIC_PTR_CAST (GraphPathValidation, Parent::pathValidation());
+ }
private:
/// The graph of constraints
graph::GraphPtr_t graph_;
--
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