From 53471ea0b642e00e72dd504064e7780d652cb999 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 26 Aug 2016 20:00:11 +0200
Subject: [PATCH] Update class in namespace graph
---
include/hpp/manipulation/graph/node.hh | 1 +
src/graph/edge.cc | 1 +
src/graph/graph-component.cc | 1 +
src/graph/guided-node-selector.cc | 2 +-
src/graph/helper.cc | 9 +++++----
src/graph/node-selector.cc | 4 ++--
src/graph/statistics.cc | 2 +-
7 files changed, 12 insertions(+), 8 deletions(-)
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index 9c6d2b1..2b7c5cc 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -22,6 +22,7 @@
#include <hpp/core/locked-joint.hh>
#include <hpp/core/constraint-set.hh>
#include <hpp/core/config-projector.hh>
+#include <hpp/core/numerical-constraint.hh>
#include "hpp/manipulation/config.hh"
#include "hpp/manipulation/deprecated.hh"
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index ad579b6..f6b6587 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -19,6 +19,7 @@
#include <sstream>
#include <hpp/core/path-vector.hh>
+#include <hpp/core/path-validation.hh>
#include <hpp/constraints/differentiable-function.hh>
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 7d52149..79f9edd 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -19,6 +19,7 @@
#include <hpp/core/config-projector.hh>
#include <hpp/core/constraint-set.hh>
#include <hpp/core/locked-joint.hh>
+#include <hpp/core/numerical-constraint.hh>
#include <hpp/constraints/differentiable-function.hh>
diff --git a/src/graph/guided-node-selector.cc b/src/graph/guided-node-selector.cc
index 9512e9d..999656d 100644
--- a/src/graph/guided-node-selector.cc
+++ b/src/graph/guided-node-selector.cc
@@ -17,7 +17,7 @@
#include "hpp/manipulation/graph/guided-node-selector.hh"
#include <hpp/util/assertion.hh>
-#include <hpp/model/configuration.hh>
+#include <hpp/pinocchio/configuration.hh>
#include <hpp/core/steering-method.hh>
#include "../astar.hh"
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 5a97b8d..e90cfa1 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -26,11 +26,12 @@
#include <hpp/util/debug.hh>
-#include <hpp/model/gripper.hh>
+#include <hpp/pinocchio/gripper.hh>
#include <hpp/constraints/differentiable-function.hh>
#include <hpp/manipulation/handle.hh>
+#include <hpp/manipulation/device.hh>
#include <hpp/manipulation/graph/node.hh>
#include <hpp/manipulation/graph/edge.hh>
#include <hpp/manipulation/graph/node-selector.hh>
@@ -1035,9 +1036,9 @@ namespace hpp {
}
}
// Create object lock
- using model::JointVector_t;
- assert (robot.has <JointVector_t> (od.name));
- BOOST_FOREACH (const JointPtr_t& oj, robot.get<JointVector_t> (od.name)) {
+ assert (robot.has <JointIndexes_t> (od.name));
+ BOOST_FOREACH (const JointIndex& j, robot.get<JointIndexes_t> (od.name)) {
+ JointPtr_t oj (new Joint (ps->robot(), j));
LockedJointPtr_t lj = core::LockedJoint::create (oj,
robot.currentConfiguration()
.segment (oj->rankInConfiguration (), oj->configSize ()));
diff --git a/src/graph/node-selector.cc b/src/graph/node-selector.cc
index e5f77ca..02fe9a4 100644
--- a/src/graph/node-selector.cc
+++ b/src/graph/node-selector.cc
@@ -16,7 +16,7 @@
#include <hpp/core/node.hh>
-#include <hpp/model/configuration.hh>
+#include <hpp/pinocchio/configuration.hh>
#include "hpp/manipulation/roadmap-node.hh"
#include "hpp/manipulation/graph/node-selector.hh"
@@ -80,7 +80,7 @@ namespace hpp {
return it->second;
}
std::stringstream oss;
- oss << "A configuration has no node:" << model::displayConfig (config);
+ oss << "A configuration has no node:" << pinocchio::displayConfig (config);
throw std::logic_error (oss.str ());
}
diff --git a/src/graph/statistics.cc b/src/graph/statistics.cc
index 4823ca9..5b0fb33 100644
--- a/src/graph/statistics.cc
+++ b/src/graph/statistics.cc
@@ -248,7 +248,7 @@ namespace hpp {
{
statistics::DiscreteDistribution < RoadmapNodePtr_t > distrib;
for (const_iterator bin = begin(); bin != end (); ++bin) {
- unsigned int w = bin->freq ();
+ std::size_t w = bin->freq ();
if (w == 0)
continue;
distrib.insert (bin->nodes ().front (), w);
--
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