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Guilhem Saurel
hpp-manipulation
Commits
8065285c
Commit
8065285c
authored
8 months ago
by
pre-commit-ci[bot]
Committed by
Florent Lamiraux
8 months ago
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[pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see
https://pre-commit.ci
parent
5c68e034
Branches
devel
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Pipeline
#41878
failed
8 months ago
Stage: test
Changes
2
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2 changed files
include/hpp/manipulation/path-planner/transition-planner.hh
+1
-1
1 addition, 1 deletion
include/hpp/manipulation/path-planner/transition-planner.hh
src/path-planner/transition-planner.cc
+4
-5
4 additions, 5 deletions
src/path-planner/transition-planner.cc
with
5 additions
and
6 deletions
include/hpp/manipulation/path-planner/transition-planner.hh
+
1
−
1
View file @
8065285c
...
...
@@ -115,7 +115,7 @@ class HPP_MANIPULATION_DLLAPI TransitionPlanner : public core::PathPlanner {
/// \param q configuration to validate,
/// \param id index of the edge in the constraint graph.
bool
validateConfiguration
(
ConfigurationIn_t
q
,
std
::
size_t
id
,
core
::
ValidationReportPtr_t
&
report
)
const
;
core
::
ValidationReportPtr_t
&
report
)
const
;
/// Optimize path using the selected path optimizers
/// \param path input path
/// \return optimized path
...
...
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src/path-planner/transition-planner.cc
+
4
−
5
View file @
8065285c
...
...
@@ -145,9 +145,9 @@ core::PathPtr_t TransitionPlanner::directPath(ConfigurationIn_t q1,
return
validPart
;
}
bool
TransitionPlanner
::
validateConfiguration
(
ConfigurationIn_t
q
,
std
::
size_t
id
,
core
::
ValidationReportPtr_t
&
report
)
const
{
bool
TransitionPlanner
::
validateConfiguration
(
ConfigurationIn_t
q
,
std
::
size_t
id
,
core
::
ValidationReportPtr_t
&
report
)
const
{
graph
::
EdgePtr_t
edge
(
getEdgeOrThrow
(
id
));
return
edge
->
pathValidation
()
->
validate
(
q
,
report
);
}
...
...
@@ -241,8 +241,7 @@ void TransitionPlanner::init(TransitionPlannerWkPtr_t weak) {
weakPtr_
=
weak
;
}
graph
::
EdgePtr_t
TransitionPlanner
::
getEdgeOrThrow
(
std
::
size_t
id
)
const
{
graph
::
EdgePtr_t
TransitionPlanner
::
getEdgeOrThrow
(
std
::
size_t
id
)
const
{
ProblemConstPtr_t
p
(
HPP_DYNAMIC_PTR_CAST
(
const
Problem
,
problem
()));
assert
(
p
);
graph
::
GraphComponentPtr_t
comp
(
p
->
constraintGraph
()
->
get
(
id
).
lock
());
...
...
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