From 46e37fc445d8437cce89128e980c79d7f70db783 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sun, 2 Aug 2015 11:31:47 +0200
Subject: [PATCH] Update to commit 9d86cf4 in hpp-core about validation
reports:
- Make 2 GraphPathValidation::validate deprecated, and
- implement a new one that takes a reference to a PathValidationReportPtr_t
as input,
- update code accordingly.
---
include/hpp/manipulation/fwd.hh | 1 +
.../hpp/manipulation/graph-path-validation.hh | 25 +++++++++++++++++--
src/graph-path-validation.cc | 11 +++++++-
src/manipulation-planner.cc | 6 +++--
4 files changed, 38 insertions(+), 5 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index bf933f7..cc19d68 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -90,6 +90,7 @@ namespace hpp {
typedef core::ConfigurationShooter ConfigurationShooter;
typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
typedef core::ValidationReport ValidationReport;
+ typedef core::PathValidationReportPtr_t PathValidationReportPtr_t;
typedef std::pair< GripperPtr_t, HandlePtr_t> Grasp_t;
typedef boost::shared_ptr <Grasp_t> GraspPtr_t;
diff --git a/include/hpp/manipulation/graph-path-validation.hh b/include/hpp/manipulation/graph-path-validation.hh
index 661ecce..6c3dfc9 100644
--- a/include/hpp/manipulation/graph-path-validation.hh
+++ b/include/hpp/manipulation/graph-path-validation.hh
@@ -50,7 +50,10 @@ namespace hpp {
public:
/// Check that the path is valid regarding the constraint graph and call
/// the encapsulated PathValidation::validate.
- bool validate (const PathPtr_t& path, bool reverse, PathPtr_t& validPart);
+ /// \deprecated Use the method that takes as input a reference to a
+ /// ValidationReportPtr_t instead.
+ bool validate (const PathPtr_t& path, bool reverse,
+ PathPtr_t& validPart) HPP_MANIPULATION_DEPRECATED;
/// Call the GraphPathValidation::validate without validation report.
///
@@ -61,9 +64,27 @@ namespace hpp {
/// \retval report information about the validation process. unused in
/// this case,
/// \return whether the whole path is valid.
+ /// \deprecated Use the method that takes as input a reference to a
+ /// ValidationReportPtr_t instead.
virtual bool validate (const PathPtr_t& path, bool reverse,
PathPtr_t& validPart,
- ValidationReport& report);
+ ValidationReport& report)
+ HPP_MANIPULATION_DEPRECATED;
+
+ /// Check that path is valid regarding the constraint graph.
+ ///
+ /// \param path the path to check for validity,
+ /// \param reverse if true check from the end,
+ /// \retval the extracted valid part of the path, pointer to path if
+ /// path is valid,
+ /// \retval report information about the validation process. unused in
+ /// this case,
+ /// \return whether the whole path is valid.
+ ///
+ /// \notice Call the encapsulated PathValidation::validate.
+ virtual bool validate (const PathPtr_t& path, bool reverse,
+ PathPtr_t& validPart,
+ PathValidationReportPtr_t& report);
/// Set the encapsulated path validator.
void innerValidation (const PathValidationPtr_t& pathValidation)
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index 94a070e..74646b6 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -47,6 +47,14 @@ namespace hpp {
return impl_validate (path, reverse, validPart);
}
+ bool GraphPathValidation::validate (const PathPtr_t& path, bool reverse,
+ PathPtr_t& validPart,
+ PathValidationReportPtr_t&)
+ {
+ assert (path);
+ return impl_validate (path, reverse, validPart);
+ }
+
bool GraphPathValidation::impl_validate (
const PathVectorPtr_t& path, bool reverse, PathPtr_t& validPart)
{
@@ -95,7 +103,8 @@ namespace hpp {
return impl_validate (pathVector, reverse, validPart);
PathPtr_t pathNoCollision;
- if (pathValidation_->validate (path, reverse, pathNoCollision)) {
+ PathValidationReportPtr_t report;
+ if (pathValidation_->validate (path, reverse, pathNoCollision, report)) {
validPart = path;
return true;
}
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index b92c140..9bc5c03 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -133,7 +133,8 @@ namespace hpp {
}
} else projPath = path;
GraphPathValidationPtr_t pathValidation (problem_.pathValidation ());
- pathValidation->validate (projPath, false, validPath);
+ PathValidationReportPtr_t report;
+ pathValidation->validate (projPath, false, validPath, report);
if (validPath->length () == 0)
addFailure (PATH_VALIDATION, edge);
else {
@@ -190,7 +191,8 @@ namespace hpp {
if (pathProjector) {
if (!pathProjector->apply (path, projPath)) continue;
} else projPath = path;
- if (pathValidation->validate (projPath, false, validPath)) {
+ PathValidationReportPtr_t report;
+ if (pathValidation->validate (projPath, false, validPath, report)) {
roadmap ()->addEdge (*itn1, *itn2, projPath);
core::interval_t timeRange = projPath->timeRange ();
roadmap ()->addEdge (*itn2, *itn1, projPath->extract
--
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