From 8b23a94a9d62176c98f664a830b5028cdf649dd1 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 22 May 2017 11:29:09 +0200
Subject: [PATCH] Add parameter ManipulationPlanner/ExtendStep
---
include/hpp/manipulation/manipulation-planner.hh | 2 +-
src/manipulation-planner.cc | 2 +-
src/problem.cc | 2 ++
3 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/include/hpp/manipulation/manipulation-planner.hh b/include/hpp/manipulation/manipulation-planner.hh
index 07201e0..e510d2b 100644
--- a/include/hpp/manipulation/manipulation-planner.hh
+++ b/include/hpp/manipulation/manipulation-planner.hh
@@ -116,7 +116,7 @@ namespace hpp {
};
static const std::vector<Reason> reasons_;
- const value_type extendStep_;
+ value_type extendStep_;
mutable Configuration_t qProj_;
};
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 1f60ae1..150195b 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -449,7 +449,7 @@ namespace hpp {
core::PathPlanner (problem, roadmap),
shooter_ (problem.configurationShooter()),
problem_ (problem), roadmap_ (roadmap),
- extendStep_ (1),
+ extendStep_ (problem.getParameter<value_type>("ManipulationPlanner/ExtendStep", 1)),
qProj_ (problem.robot ()->configSize ())
{}
diff --git a/src/problem.cc b/src/problem.cc
index 81d9b14..1f50bd3 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -30,6 +30,8 @@ namespace hpp {
Parent::steeringMethod (GraphSteeringMethod::create (this));
distance (WeighedDistance::create (robot, graph_));
setPathValidationFactory(core::DiscretizedCollisionChecking::create, 0.05);
+
+ // add<boost::any>("ManipulationPlanner/ExtendStep", (value_type)1);
}
void Problem::constraintGraph (const graph::GraphPtr_t& graph)
--
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