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Commit 8065285c authored by pre-commit-ci[bot]'s avatar pre-commit-ci[bot] Committed by Florent Lamiraux
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[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
parent 5c68e034
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...@@ -115,7 +115,7 @@ class HPP_MANIPULATION_DLLAPI TransitionPlanner : public core::PathPlanner { ...@@ -115,7 +115,7 @@ class HPP_MANIPULATION_DLLAPI TransitionPlanner : public core::PathPlanner {
/// \param q configuration to validate, /// \param q configuration to validate,
/// \param id index of the edge in the constraint graph. /// \param id index of the edge in the constraint graph.
bool validateConfiguration(ConfigurationIn_t q, std::size_t id, 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 /// Optimize path using the selected path optimizers
/// \param path input path /// \param path input path
/// \return optimized path /// \return optimized path
......
...@@ -145,9 +145,9 @@ core::PathPtr_t TransitionPlanner::directPath(ConfigurationIn_t q1, ...@@ -145,9 +145,9 @@ core::PathPtr_t TransitionPlanner::directPath(ConfigurationIn_t q1,
return validPart; return validPart;
} }
bool TransitionPlanner::validateConfiguration(ConfigurationIn_t q, std::size_t id, bool TransitionPlanner::validateConfiguration(
core::ValidationReportPtr_t& report) const ConfigurationIn_t q, std::size_t id,
{ core::ValidationReportPtr_t& report) const {
graph::EdgePtr_t edge(getEdgeOrThrow(id)); graph::EdgePtr_t edge(getEdgeOrThrow(id));
return edge->pathValidation()->validate(q, report); return edge->pathValidation()->validate(q, report);
} }
...@@ -241,8 +241,7 @@ void TransitionPlanner::init(TransitionPlannerWkPtr_t weak) { ...@@ -241,8 +241,7 @@ void TransitionPlanner::init(TransitionPlannerWkPtr_t weak) {
weakPtr_ = 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())); ProblemConstPtr_t p(HPP_DYNAMIC_PTR_CAST(const Problem, problem()));
assert(p); assert(p);
graph::GraphComponentPtr_t comp(p->constraintGraph()->get(id).lock()); graph::GraphComponentPtr_t comp(p->constraintGraph()->get(id).lock());
......
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