From 5f7bad45d8232296cdb88bc39e6aca5c88bac0e5 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 12 Feb 2021 11:47:00 +0100
Subject: [PATCH] Add GraphPathValidation::setSecurityMarginBetweenBodies
---
include/hpp/manipulation/graph-path-validation.hh | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/include/hpp/manipulation/graph-path-validation.hh b/include/hpp/manipulation/graph-path-validation.hh
index ef36ad7..9a01504 100644
--- a/include/hpp/manipulation/graph-path-validation.hh
+++ b/include/hpp/manipulation/graph-path-validation.hh
@@ -150,6 +150,21 @@ namespace hpp {
if (oui) oui->setSecurityMargins(securityMargins);
}
+ /// \copydoc hpp::core::ObstacleUserInterface::setSecurityMarginBetweenBodies
+ ///
+ /// Dynamic cast inner path validation into
+ /// hpp::core::ObstacleUserInterface and calls
+ /// hpp::core::ObstacleUserInterface::setSecurityMargins in case of
+ /// success.
+ void setSecurityMarginBetweenBodies(const std::string& body_a,
+ const std::string& body_b,
+ const value_type& margin)
+ {
+ shared_ptr<core::ObstacleUserInterface> oui =
+ HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
+ if (oui) oui->setSecurityMarginBetweenBodies(body_a, body_b, margin);
+ }
+
protected:
/// Constructor
GraphPathValidation (const PathValidationPtr_t& pathValidation);
--
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