From 9bdf7ff85a2930dc912cc2511e1093272703260d Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 23 Aug 2016 22:13:01 +0200
Subject: [PATCH] Fix bug in graph::helper due to WaypointEdge
* See FIXME for more info
---
src/graph/helper.cc | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index bf40b21..5a97b8d 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -116,8 +116,15 @@ namespace hpp {
template <int gCase>
struct CaseTraits {
static const bool pregrasp = (gCase & WithPreGrasp);
- static const bool intersec = !((gCase & NoGrasp) || (gCase & NoPlace));
static const bool preplace = (gCase & WithPrePlace);
+ /// FIXME
+ // It should be
+ // static const bool intersec = !((gCase & NoGrasp) || (gCase & NoPlace));
+ // but when NoPlace | WithPreGrasp, we need a LevelSetEdge after
+ // the pregrasp waypoint node. Sadly the current implementation of
+ // WaypointEdge does not allow the last edge of type other than Edge.
+ static const bool intersec = pregrasp || preplace || ((gCase & GraspOnly) && (gCase & PlaceOnly));
+
static const bool valid =
( (gCase & WithPreGrasp) || (gCase & GraspOnly) || (gCase & NoGrasp) )
&& ( (gCase & WithPrePlace) || (gCase & PlaceOnly) || (gCase & NoPlace) )
--
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