From 6dce34ffc562289c533021894de1ef3f33428b6d Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 11 Dec 2015 10:06:22 +0100
Subject: [PATCH] GraphPathValidation return a report when it failed
---
.../hpp/manipulation/graph-path-validation.hh | 6 +++--
src/graph-path-validation.cc | 25 ++++++++++---------
2 files changed, 17 insertions(+), 14 deletions(-)
diff --git a/include/hpp/manipulation/graph-path-validation.hh b/include/hpp/manipulation/graph-path-validation.hh
index 6c3dfc9..92642de 100644
--- a/include/hpp/manipulation/graph-path-validation.hh
+++ b/include/hpp/manipulation/graph-path-validation.hh
@@ -142,9 +142,11 @@ namespace hpp {
private:
/// Do validation regarding the constraint graph for PathVector
- bool impl_validate (const PathVectorPtr_t& path, bool reverse, PathPtr_t& validPart);
+ bool impl_validate (const PathVectorPtr_t& path, bool reverse,
+ PathPtr_t& validPart, PathValidationReportPtr_t& report);
/// Do validation regarding the constraint graph for Path
- bool impl_validate (const PathPtr_t& path, bool reverse, PathPtr_t& validPart);
+ bool impl_validate (const PathPtr_t& path, bool reverse,
+ PathPtr_t& validPart, PathValidationReportPtr_t& report);
/// The encapsulated PathValidation.
PathValidationPtr_t pathValidation_;
/// Pointer to the constraint graph.
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index 292dff7..46f24dc 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -32,7 +32,8 @@ namespace hpp {
const PathPtr_t& path, bool reverse, PathPtr_t& validPart)
{
assert (path);
- bool success = impl_validate (path, reverse, validPart);
+ PathValidationReportPtr_t report;
+ bool success = impl_validate (path, reverse, validPart, report);
assert (constraintGraph_);
assert (constraintGraph_->getNode (validPart->initial ()));
assert (constraintGraph_->getNode (validPart->end ()));
@@ -44,19 +45,20 @@ namespace hpp {
ValidationReport&)
{
assert (path);
- return impl_validate (path, reverse, validPart);
+ PathValidationReportPtr_t report;
+ return impl_validate (path, reverse, validPart, report);
}
bool GraphPathValidation::validate (const PathPtr_t& path, bool reverse,
PathPtr_t& validPart,
- PathValidationReportPtr_t&)
+ PathValidationReportPtr_t& report)
{
assert (path);
- return impl_validate (path, reverse, validPart);
+ return impl_validate (path, reverse, validPart, report);
}
- bool GraphPathValidation::impl_validate (
- const PathVectorPtr_t& path, bool reverse, PathPtr_t& validPart)
+ bool GraphPathValidation::impl_validate (const PathVectorPtr_t& path,
+ bool reverse, PathPtr_t& validPart, PathValidationReportPtr_t& report)
{
PathPtr_t validSubPart;
if (reverse) {
@@ -64,7 +66,7 @@ namespace hpp {
assert (!reverse && "This has never been tested with reverse path");
for (long int i = path->numberPaths () - 1; i >= 0; i--) {
// We should stop at the first non valid subpath.
- if (!impl_validate (path->pathAtRank (i), true, validSubPart)) {
+ if (!impl_validate (path->pathAtRank (i), true, validSubPart, report)) {
PathVectorPtr_t p = PathVector::create
(path->outputSize(), path->outputDerivativeSize());
for (long int v = path->numberPaths () - 1; v > i; v--)
@@ -78,7 +80,7 @@ namespace hpp {
} else {
for (size_t i = 0; i != path->numberPaths (); i++) {
// We should stop at the first non valid subpath.
- if (!impl_validate (path->pathAtRank (i), false, validSubPart)) {
+ if (!impl_validate (path->pathAtRank (i), false, validSubPart, report)) {
PathVectorPtr_t p = PathVector::create
(path->outputSize(), path->outputDerivativeSize());
for (size_t v = 0; v < i; v++)
@@ -95,15 +97,14 @@ namespace hpp {
return true;
}
- bool GraphPathValidation::impl_validate (
- const PathPtr_t& path, bool reverse, PathPtr_t& validPart)
+ bool GraphPathValidation::impl_validate (const PathPtr_t& path,
+ bool reverse, PathPtr_t& validPart, PathValidationReportPtr_t& report)
{
PathVectorPtr_t pathVector = HPP_DYNAMIC_PTR_CAST(PathVector, path);
if (pathVector)
- return impl_validate (pathVector, reverse, validPart);
+ return impl_validate (pathVector, reverse, validPart, report);
PathPtr_t pathNoCollision;
- PathValidationReportPtr_t report;
if (pathValidation_->validate (path, reverse, pathNoCollision, report)) {
validPart = path;
return true;
--
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