From 8c1d0f5d3deff98bcfe59f7d90e020b9b970718a Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 7 Sep 2015 19:13:40 +0200
Subject: [PATCH] Change TriangleList in JointAndTriangles_t
---
include/hpp/manipulation/device.hh | 6 +++---
include/hpp/manipulation/fwd.hh | 3 ++-
include/hpp/manipulation/problem-solver.hh | 2 +-
3 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index e184891..d8443de 100644
--- a/include/hpp/manipulation/device.hh
+++ b/include/hpp/manipulation/device.hh
@@ -33,10 +33,10 @@ namespace hpp {
/// As a deriving class of hpp::model::HumanoidRobot,
/// it is compatible with hpp::model::urdf::loadHumanoidRobot
///
- /// This class also contains model::Gripper, Handle and \ref TriangleList
+ /// This class also contains model::Gripper, Handle and \ref JointAndTriangles_t
class HPP_MANIPULATION_DLLAPI Device : public model::HumanoidRobot,
public Container <HandlePtr_t>, public Container <model::GripperPtr_t>,
- public Container <TriangleList>
+ public Container <JointAndTriangles_t>
{
public:
typedef model::HumanoidRobot Parent_t;
@@ -56,7 +56,7 @@ namespace hpp {
/// \name Accessors to container elements
/// Contained elements are of type model::Gripper, Handle and
- /// \ref TriangleList
+ /// \ref JointAndTriangles_t
/// \{
/// Get an element of a container
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 0455dbe..a6f2509 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -100,7 +100,8 @@ namespace hpp {
typedef std::map <DifferentiableFunctionPtr_t, GraspPtr_t> GraspsMap_t;
typedef fcl::TriangleP Triangle;
- typedef std::list <Triangle> TriangleList;
+ typedef std::pair <JointPtr_t, Triangle> JointAndTriangle_t;
+ typedef std::list <JointAndTriangle_t> JointAndTriangles_t;
} // namespace manipulation
} // namespace hpp
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 45edd53..3d7466c 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -30,7 +30,7 @@
namespace hpp {
namespace manipulation {
class HPP_MANIPULATION_DLLAPI ProblemSolver : public core::ProblemSolver,
- public Container <LockedJointPtr_t>, public Container <TriangleList>
+ public Container <LockedJointPtr_t>, public Container <JointAndTriangles_t>
{
public:
typedef core::ProblemSolver parent_t;
--
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