From 56c1952da2d114c8960251a7b9a28ec8b9a8641b Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 16 Jan 2021 09:06:44 +0000
Subject: [PATCH] Update to modification in hpp-core
Replace deprecated Path::operator() by method eval.
---
src/graph-path-validation.cc | 2 +-
src/manipulation-planner.cc | 13 +++++++++++--
2 files changed, 12 insertions(+), 3 deletions(-)
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index a916811..e02e8ea 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -99,7 +99,7 @@ namespace hpp {
{
#ifndef NDEBUG
bool success;
- Configuration_t q0 = (*path) (path->timeRange ().second, success);
+ Configuration_t q0 = path->eval(path->timeRange ().second, success);
assert (success);
assert (!path->constraints () || path->constraints ()->isSatisfied (q0));
#endif
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 33f432d..9645803 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -13,7 +13,7 @@
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
-
+#define HPP_DEBUG
#include "hpp/manipulation/manipulation-planner.hh"
#include <boost/tuple/tuple.hpp>
@@ -199,7 +199,14 @@ namespace hpp {
if (t_final != path->timeRange ().first) {
bool success;
ConfigurationPtr_t q_new (new Configuration_t
- ((*path) (t_final, success)));
+ (path->eval(t_final, success)));
+ hppDout(info, pinocchio::displayConfig(*near->configuration()));
+ hppDout(info, pinocchio::displayConfig(*q_new));
+ hppDout(info, path);
+ hppDout(info, *path);
+ assert(success);
+ assert(path->constraints()->isSatisfied(q_new));
+ assert(problem_->constraintGraph ()->getState(*q_new));
delayedEdges.push_back (DelayedEdge_t (near, q_new, path));
}
}
@@ -295,6 +302,7 @@ namespace hpp {
projShorter = !pathProjector->apply (path, projPath);
if (projShorter) {
if (!projPath || projPath->length () == 0) {
+ hppDout(info, "");
HPP_STOP_TIMECOUNTER (projectPath);
es.addFailure (reasons_[FAILURE]);
es.addFailure (reasons_[PATH_PROJECTION_ZERO]);
@@ -319,6 +327,7 @@ namespace hpp {
}
HPP_STOP_TIMECOUNTER (validatePath);
if (fullValidPath->length () == 0) {
+ hppDout(info, "");
es.addFailure (reasons_[FAILURE]);
es.addFailure (reasons_[PATH_VALIDATION_ZERO]);
validPath = fullValidPath;
--
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