From 4e2590d671a28d2f375d4bf3772a251217d79e90 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 27 Aug 2014 19:31:00 +0200
Subject: [PATCH] Follow previous changes.
---
src/graph-path-validation.cc | 3 ++-
src/graph-steering-method.cc | 3 ++-
src/manipulation-planner.cc | 5 +++--
3 files changed, 7 insertions(+), 4 deletions(-)
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index 464d4c6..84e42ea 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -92,7 +92,8 @@ namespace hpp {
// We check for all of them if both nodes are on the same leaf.
ConstraintSetPtr_t constraints;
while (!possibleEdges.empty ()) {
- constraints = constraintGraph_->pathConstraint (possibleEdges.back(), configAt (tmin));
+ constraints = constraintGraph_->pathConstraint (possibleEdges.back());
+ constraints->offsetFromConfig(configAt (tmin));
if (constraints->isSatisfied (configAt (tmax))) {
validPart = path;
return true;
diff --git a/src/graph-steering-method.cc b/src/graph-steering-method.cc
index d2691d2..41b2b07 100644
--- a/src/graph-steering-method.cc
+++ b/src/graph-steering-method.cc
@@ -36,7 +36,8 @@ namespace hpp {
graph_->getEdge (graph_->getNode (q1), graph_->getNode (q2));
ConstraintSetPtr_t constraints;
while (!possibleEdges.empty()) {
- constraints = graph_->pathConstraint (possibleEdges.back(), q1);
+ constraints = graph_->pathConstraint (possibleEdges.back());
+ constraints->offsetFromConfig(q1);
if (constraints->isSatisfied (q2)) {
path->constraints (constraints);
break;
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 9c29220..24c8dbb 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -102,7 +102,8 @@ namespace hpp {
// Select next node in the constraint graph.
graph::Nodes_t nodes = graph->getNode (*q_near);
graph::Edges_t edges = graph->chooseEdge (nodes);
- ConstraintPtr_t constraint = graph->configConstraint (edges, *q_near);
+ ConstraintPtr_t constraint = graph->configConstraint (edges);
+ constraint->offsetFromConfig (*q_near);
qProj_ = *q_rand;
if (!constraint->apply (qProj_)) {
addFailure (PROJECTION, edges);
@@ -114,7 +115,7 @@ namespace hpp {
addFailure (STEERING_METHOD, edges);
return false;
}
- path->constraints (graph->pathConstraint (edges, *q_near));
+ path->constraints (graph->pathConstraint (edges));
core::PathValidationPtr_t pathValidation (problem ().pathValidation ());
pathValidation->validate (path, false, validPath);
if (validPath->length () == 0)
--
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