From 9ea98910a6b62d605793761ebdb4b61cfa38777b Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 16 Jun 2016 09:28:47 +0200
Subject: [PATCH] Add Result::hasNode in graph helper
---
src/graph/helper.cc | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 5cc7b0e..35ad351 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -622,6 +622,11 @@ namespace hpp {
return iGOH;
}
+ bool hasNode (const GraspV_t& iG)
+ {
+ return nodes.count(nodeid(iG)) > 0;
+ }
+
NodeAndManifold_t& operator() (const GraspV_t& iG)
{
return nodes [nodeid(iG)];
--
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