From 26c4d698494f0132437da3b645dae89ed3b58004 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 27 Oct 2017 17:49:05 +0200
Subject: [PATCH] Fix FIXME in automatic graph construction
---
src/graph/helper.cc | 8 +-------
1 file changed, 1 insertion(+), 7 deletions(-)
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index b6bf6ac..7fa5862 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -120,13 +120,7 @@ namespace hpp {
struct CaseTraits {
static const bool pregrasp = (gCase & WithPreGrasp);
static const bool preplace = (gCase & WithPrePlace);
- /// FIXME
- // It should be
- // static const bool intersec = !((gCase & NoGrasp) || (gCase & NoPlace));
- // but when NoPlace | WithPreGrasp, we need a LevelSetEdge after
- // the pregrasp waypoint state. Sadly the current implementation of
- // WaypointEdge does not allow the last edge of type other than Edge.
- static const bool intersec = pregrasp || preplace || ((gCase & GraspOnly) && (gCase & PlaceOnly));
+ static const bool intersec = !((gCase & NoGrasp) || (gCase & NoPlace));
static const bool valid =
( (gCase & WithPreGrasp) || (gCase & GraspOnly) || (gCase & NoGrasp) )
--
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