From 68d9655319791944fd71ccbf2e170fefab4fa318 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 8 Mar 2016 13:36:01 +0100
Subject: [PATCH] Update to changes of core::Container
---
include/hpp/manipulation/problem-solver.hh | 41 +++-------------------
src/graph/helper.cc | 7 ++--
src/problem-solver.cc | 27 +++++++-------
3 files changed, 22 insertions(+), 53 deletions(-)
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 406fc5c..ee1fda9 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -31,10 +31,12 @@ namespace hpp {
namespace manipulation {
class HPP_MANIPULATION_DLLAPI ProblemSolver :
public core::ProblemSolver,
- public core::Container <LockedJointPtr_t>,
- public core::Container <JointAndShapes_t>
+ public core::Containers <
+ boost::mpl::vector <LockedJointPtr_t, JointAndShapes_t> >
{
public:
+ typedef core::Containers < boost::mpl::vector
+ <LockedJointPtr_t, JointAndShapes_t> > ThisC_t;
typedef core::ProblemSolver parent_t;
typedef std::vector <std::string> Names_t;
@@ -142,41 +144,6 @@ namespace hpp {
return problem_;
}
- /// Get an element of a container
- template <typename Element>
- const Element& get (const std::string& name) const
- {
- return Container <Element>::get (name);
- }
-
- /// Check if a Container has a key.
- template <typename Element>
- bool has (const std::string& name) const
- {
- return core::Container <Element>::has (name);
- }
-
- /// Add an element to a container
- template <typename Element>
- void add (const std::string& name, const Element& element)
- {
- Container <Element>::add (name, element);
- }
-
- /// Get the underlying map of a container
- template <typename Element>
- const typename core::Container<Element>::ElementMap_t& getAll () const
- {
- return Container <Element>::getAll ();
- }
-
- /// Get the keys of a container
- template <typename Element, typename ReturnType>
- ReturnType getKeys () const
- {
- return Container <Element>::template getKeys <ReturnType> ();
- }
-
protected:
virtual void initializeProblem (ProblemPtr_t problem);
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 9938530..5fd2e5d 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -30,6 +30,7 @@
#include <hpp/manipulation/graph/node.hh>
#include <hpp/manipulation/graph/edge.hh>
#include <hpp/manipulation/graph/node-selector.hh>
+#include <hpp/manipulation/graph/guided-node-selector.hh>
#include <hpp/manipulation/problem-solver.hh>
namespace hpp {
@@ -864,12 +865,12 @@ namespace hpp {
ps->createPlacementConstraint (placeN,
od.shapes, envNames, margin);
objects[i].get<0> ().get<0> () =
- ps->get <NumericalConstraintPtr_t> (placeN);
+ ps->core::ProblemSolver::get <NumericalConstraintPtr_t> (placeN);
if (prePlace) {
ps->createPrePlacementConstraint ("pre" + placeN,
od.shapes, envNames, margin, prePlaceWidth);
objects[i].get<0> ().get<1> () =
- ps->get <NumericalConstraintPtr_t> ("pre" + placeN);
+ ps->core::ProblemSolver::get <NumericalConstraintPtr_t> ("pre" + placeN);
}
}
// Create object lock
@@ -879,7 +880,7 @@ namespace hpp {
LockedJointPtr_t lj = core::LockedJoint::create (oj,
robot.currentConfiguration()
.segment (oj->rankInConfiguration (), oj->configSize ()));
- ps->add <LockedJointPtr_t> ("lock_" + oj->name (), lj);
+ ps->ProblemSolver::ThisC_t::add <LockedJointPtr_t> ("lock_" + oj->name (), lj);
objects[i].get<0> ().get<2> ().push_back (lj);
}
++i;
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 621c187..8f590ae 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -73,30 +73,31 @@ namespace hpp {
ProblemSolver::ProblemSolver () :
core::ProblemSolver (), robot_ (), problem_ (0x0), graspsMap_()
{
- add <core::PathPlannerBuilder_t> ("M-RRT", ManipulationPlanner::create);
+ parent_t::add<core::PathPlannerBuilder_t>
+ ("M-RRT", ManipulationPlanner::create);
using core::PathValidationBuilder_t;
- add <PathValidationBuilder_t> ("Graph-Discretized",
+ parent_t::add <PathValidationBuilder_t> ("Graph-Discretized",
GraphPathValidation::create <core::DiscretizedCollisionChecking>);
- add <PathValidationBuilder_t> ("Graph-Progressive",
+ parent_t::add <PathValidationBuilder_t> ("Graph-Progressive",
GraphPathValidation::create <
core::continuousCollisionChecking::Progressive >);
using core::PathOptimizerBuilder_t;
- add <PathOptimizerBuilder_t> ("Graph-RandomShortcut",
+ parent_t::add <PathOptimizerBuilder_t> ("Graph-RandomShortcut",
GraphOptimizer::create <core::RandomShortcut>);
- add <PathOptimizerBuilder_t> ("PartialShortcut", core::pathOptimization::
+ parent_t::add <PathOptimizerBuilder_t> ("PartialShortcut", core::pathOptimization::
PartialShortcut::createWithTraits <PartialShortcutTraits>);
- add <PathOptimizerBuilder_t> ("Graph-PartialShortcut",
+ parent_t::add <PathOptimizerBuilder_t> ("Graph-PartialShortcut",
GraphOptimizer::create <core::pathOptimization::PartialShortcut>);
- add <PathOptimizerBuilder_t> ("ConfigOptimization",
+ parent_t::add <PathOptimizerBuilder_t> ("ConfigOptimization",
core::pathOptimization::ConfigOptimization::createWithTraits
<pathOptimization::ConfigOptimizationTraits>);
- add <PathOptimizerBuilder_t> ("Graph-ConfigOptimization",
+ parent_t::add <PathOptimizerBuilder_t> ("Graph-ConfigOptimization",
GraphOptimizer::create <
GraphConfigOptimizationTraits
<pathOptimization::ConfigOptimizationTraits>
>);
using core::SteeringMethodBuilder_t;
- add <SteeringMethodBuilder_t> ("Graph-SteeringMethodStraight",
+ parent_t::add <SteeringMethodBuilder_t> ("Graph-SteeringMethodStraight",
GraphSteeringMethod::create <core::SteeringMethodStraight>);
pathPlannerType ("M-RRT");
@@ -181,8 +182,8 @@ namespace hpp {
if (robot_->has <JointAndShapes_t> (*it2))
l = robot_->get <JointAndShapes_t> (*it2);
// and then environment triangles.
- else if (has <JointAndShapes_t> (*it2))
- l = get <JointAndShapes_t> (*it2);
+ else if (ThisC_t::has <JointAndShapes_t> (*it2))
+ l = ThisC_t::get <JointAndShapes_t> (*it2);
else throw std::runtime_error ("Second list of triangles not found.");
for (JointAndShapes_t::const_iterator it = l.begin ();
it != l.end(); ++it) {
@@ -229,8 +230,8 @@ namespace hpp {
if (robot_->has <JointAndShapes_t> (*it2))
l = robot_->get <JointAndShapes_t> (*it2);
// and then environment triangles.
- else if (has <JointAndShapes_t> (*it2))
- l = get <JointAndShapes_t> (*it2);
+ else if (ThisC_t::has <JointAndShapes_t> (*it2))
+ l = ThisC_t::get <JointAndShapes_t> (*it2);
else throw std::runtime_error ("Second list of triangles not found.");
for (JointAndShapes_t::const_iterator it = l.begin ();
--
GitLab