From 26039502ba304322bb14b2fa970f95122d648915 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 1 Sep 2014 14:32:21 +0200
Subject: [PATCH] GraphSteeringMethod and GraphPathValidation return empty Path
when failing
---
src/graph-path-validation.cc | 2 +-
src/graph-steering-method.cc | 6 +++---
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index e9b5172..c6d80ae 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -102,7 +102,7 @@ namespace hpp {
}
possibleEdges.pop_back();
}
- validPart = path->extract (std::make_pair (tmin, tmin));
+ validPart = PathPtr_t ();
return false;
}
} // namespace manipulation
diff --git a/src/graph-steering-method.cc b/src/graph-steering-method.cc
index 84ae64b..64ea88a 100644
--- a/src/graph-steering-method.cc
+++ b/src/graph-steering-method.cc
@@ -31,7 +31,6 @@ namespace hpp {
PathPtr_t GraphSteeringMethod::impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
{
value_type length = (*distance_) (q1,q2);
- PathPtr_t path = core::StraightPath::create (robot_.lock(), q1, q2, length);
std::vector< graph::Edges_t > possibleEdges =
graph_->getEdge (graph_->getNode (q1), graph_->getNode (q2));
ConstraintSetPtr_t constraints;
@@ -40,12 +39,13 @@ namespace hpp {
constraints->offsetFromConfig(q1);
assert (constraints->isSatisfied (q1));
if (constraints->isSatisfied (q2)) {
+ PathPtr_t path = core::StraightPath::create (robot_.lock(), q1, q2, length);
path->constraints (constraints);
- break;
+ return path;
}
possibleEdges.pop_back ();
}
- return path;
+ return PathPtr_t ();
}
} // namespace manipulation
} // namespace hpp
--
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