From 6cd5bcb73a975c05024d89b3a7b7e3b6c13ebc0d Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 12 Sep 2019 17:23:49 +0200
Subject: [PATCH] [Graph] Create default StateSelector at construction.
---
include/hpp/manipulation/graph/graph-component.hh | 1 +
include/hpp/manipulation/graph/graph.hh | 4 +---
src/graph/graph.cc | 6 ++++++
3 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index f5ea14d..b4da298 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -21,6 +21,7 @@
# include <ostream>
# include "hpp/manipulation/config.hh"
+# include "hpp/manipulation/deprecated.hh"
# include "hpp/manipulation/fwd.hh"
# include "hpp/manipulation/graph/fwd.hh"
# include "hpp/manipulation/graph/dot.hh"
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index c3c597f..ff07201 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -238,9 +238,7 @@ namespace hpp {
/// Constructor
/// \param sm a steering method to create paths from edges
- Graph (const std::string& name, const ProblemPtr_t& problem) :
- GraphComponent (name), problem_ (problem)
- {}
+ Graph (const std::string& name, const ProblemPtr_t& problem);
/// Print the object in a stream.
std::ostream& print (std::ostream& os) const;
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 84d6f9a..3d5ba3b 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -35,6 +35,7 @@ namespace hpp {
Graph* ptr = new Graph (name, problem);
GraphPtr_t shPtr (ptr);
ptr->init (shPtr, robot);
+ shPtr->createStateSelector (name);
return shPtr;
}
@@ -242,6 +243,11 @@ namespace hpp {
return components_;
}
+ Graph::Graph (const std::string& name, const ProblemPtr_t& problem) :
+ GraphComponent (name), problem_ (problem)
+ {
+ }
+
std::ostream& Graph::dotPrint (std::ostream& os, dot::DrawingAttributes da) const
{
da.separator = "; ";
--
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