From 60384e75d430867bab93178ea6ff0cb07dde2278 Mon Sep 17 00:00:00 2001
From: Le Quang Anh <43576719+Toefinder@users.noreply.github.com>
Date: Tue, 19 Apr 2022 16:02:56 +0200
Subject: [PATCH] Minor factoring
---
src/path-planner/states-path-finder.cc | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/path-planner/states-path-finder.cc b/src/path-planner/states-path-finder.cc
index bbcae9d..3fa0262 100644
--- a/src/path-planner/states-path-finder.cc
+++ b/src/path-planner/states-path-finder.cc
@@ -198,7 +198,7 @@ namespace hpp {
struct state_with_depth_ptr_t {
StateMap_t::iterator state;
std::size_t parentIdx;
- state_with_depth_ptr_t (const StateMap_t::iterator& it, std::size_t idx)
+ state_with_depth_ptr_t (const StateMap_t::iterator& it, std::size_t idx)
: state (it), parentIdx (idx) {}
};
typedef std::deque<state_with_depth_ptr_t> Deque_t;
@@ -209,7 +209,7 @@ namespace hpp {
// map each state X to a list of preceding states in paths that visit X
// state_with_depth struct gives info to trace the entire paths
StateMap_t parent1;
- // store a vector fo pointers to the end state of each potential path
+ // store a vector of pointers to the end state of each potential path
state_with_depths_t solutions;
// the frontier of the graph search
// consists states that have not been expanded on
@@ -284,10 +284,10 @@ namespace hpp {
(cg->constraintsAndComplements ());
for (std::size_t i = 0; i < cg->nbComponents (); ++i) {
EdgePtr_t edge (HPP_DYNAMIC_PTR_CAST (Edge, cg->get (i).lock ()));
-
+
// only gather the edge constraints
if (!edge) continue;
-
+
// Don't even consider level set edges
if (containsLevelSet(edge)) continue;
@@ -303,7 +303,7 @@ namespace hpp {
const std::string& name ((*it)->function ().name ());
// if constraint is in map, no need to add it
if (index_.find (name) != index_.end ()) continue;
-
+
index_ [name] = constraints_.size ();
// Check whether constraint is equivalent to a previous one
for (NumericalConstraints_t::const_iterator it1
@@ -760,7 +760,7 @@ namespace hpp {
}
// when goal configuration is given, and if something
// (eg relative pose of two objects grasping) is fixed until goal,
- // we need to propagate the constraint to an earlier solver,
+ // we need to propagate the constraint to an earlier solver,
// otherwise the chance it solves for the correct config is very low
if (j > 0 && j < d.N-1) {
const Solver_t& otherSolver = transitions [j+1]->
@@ -954,7 +954,7 @@ namespace hpp {
bool StatesPathFinder::analyseOptimizationProblem2
(const graph::Edges_t& transitions, core::ProblemConstPtr_t _problem)
- {
+ {
typedef constraints::JointConstPtr_t JointConstPtr_t;
typedef core::RelativeMotion RelativeMotion;
@@ -1148,7 +1148,7 @@ namespace hpp {
for (size_type j = 0; j < d.waypoint.cols(); j++)
oss << " " << pinocchio::displayConfig(d.waypoint.col(j)) << ", # " << j+1 << std::endl;
if (!goalDefinedByConstraints_) {
- oss << " " << pinocchio::displayConfig(d.q2) << " # " << d.waypoint.cols()+1 << std::endl;
+ oss << " " << pinocchio::displayConfig(d.q2) << " # " << d.waypoint.cols()+1 << std::endl;
}
oss << "]" << std::endl;
std::string ans = oss.str();
@@ -1177,7 +1177,7 @@ namespace hpp {
std::size_t nBadSolvesMax = nTriesMax*50; // bad solve fails before reseting the whole solution
std::vector<std::size_t> nTriesDone(d.solvers.size()+1, 0);
std::size_t nFails = 0;
- std::size_t nBadSolves = 0;
+ std::size_t nBadSolves = 0;
std::size_t wp = 1; // waypoint index starting at 1 (wp 0 = q1)
std::size_t wp_max = 0; // all waypoints up to this index are valid solved
matrix_t longestSolved(d.nq, d.N);
--
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