From 6f53f9db67397c4fb33587953e6288449d68aef3 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 11 Jun 2015 23:08:31 +0200
Subject: [PATCH] Update to modification in hpp-core,
- make ProblemSolver::initializeProblem virtual,
- use shared pointers for ConfigurationShooter.
---
include/hpp/manipulation/problem-solver.hh | 2 +-
src/manipulation-planner.cc | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index d37ee93..b7ac344 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -139,7 +139,7 @@ namespace hpp {
}
protected:
- void initializeProblem (ProblemPtr_t problem);
+ virtual void initializeProblem (ProblemPtr_t problem);
private:
DevicePtr_t robot_;
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 7a69a2e..b92c140 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -208,7 +208,7 @@ namespace hpp {
ManipulationPlanner::ManipulationPlanner (const Problem& problem,
const core::RoadmapPtr_t& roadmap) :
core::PathPlanner (problem, roadmap),
- shooter_ (new core::BasicConfigurationShooter (problem.robot ())),
+ shooter_ (problem.configurationShooter()),
problem_ (problem), qProj_ (problem.robot ()->configSize ())
{}
--
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