From 6f1c8deb7d664ed11d2686f1a311a2f817fd60cf Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sun, 19 May 2019 13:05:56 +0200
Subject: [PATCH] Keep the default validation from hpp-core + Fix minor issues
---
src/problem-solver.cc | 14 +++++++++-----
src/problem.cc | 4 ----
2 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 40e21eb..a75cd75 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -129,7 +129,8 @@ namespace hpp {
pathValidations.add ("Graph-Dichotomy" , GraphPathValidation::create<core::continuousValidation::Dichotomy >);
pathValidations.add ("Graph-Progressive", GraphPathValidation::create<core::continuousValidation::Progressive>);
- pathValidationType ("Graph-Discretized", 0.05);
+ // TODO Uncomment to make Graph-Discretized the default.
+ //pathValidationType ("Graph-Discretized", 0.05);
pathOptimizers.add ("RandomShortcut",
pathOptimization::RandomShortcut::create);
@@ -202,6 +203,9 @@ namespace hpp {
core::ProblemSolver::initializeProblem (problem_);
if (constraintGraph_)
problem_->constraintGraph (constraintGraph_);
+ value_type tolerance;
+ const std::string& type = parent_t::pathValidationType (tolerance);
+ problem_->setPathValidationFactory (pathValidations.get(type), tolerance);
}
void ProblemSolver::constraintGraph (const std::string& graphName)
@@ -373,10 +377,10 @@ namespace hpp {
const value_type& tolerance)
{
parent_t::pathValidationType(type, tolerance);
- assert (problem_);
- problem_->setPathValidationFactory (
- pathValidations.get(type),
- tolerance);
+ if (problem_)
+ problem_->setPathValidationFactory (
+ pathValidations.get(type),
+ tolerance);
}
void ProblemSolver::resetRoadmap ()
diff --git a/src/problem.cc b/src/problem.cc
index 6cb988c..8d98825 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -104,10 +104,6 @@ namespace hpp {
core::Problem::checkProblem ();
if (!graph_)
throw std::runtime_error ("No graph in the problem.");
- if (!pathValidation ())
- throw std::runtime_error ("No GraphPathValidation in the problem.");
- if (!core::Problem::steeringMethod ())
- throw std::runtime_error ("No SteeringMethod in the problem.");
}
} // namespace manipulation
} // namespace hpp
--
GitLab