From a8860952e674f6cb0e54680c9ce765908f0ff512 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 9 Aug 2019 18:55:30 +0200
Subject: [PATCH] Add StateSelector::getWaypointStates
---
include/hpp/manipulation/graph/state-selector.hh | 3 +++
src/graph/state-selector.cc | 5 +++++
2 files changed, 8 insertions(+)
diff --git a/include/hpp/manipulation/graph/state-selector.hh b/include/hpp/manipulation/graph/state-selector.hh
index 0bc021d..d4b0089 100644
--- a/include/hpp/manipulation/graph/state-selector.hh
+++ b/include/hpp/manipulation/graph/state-selector.hh
@@ -48,6 +48,9 @@ namespace hpp {
/// Returns a list of all the states
States_t getStates () const;
+ /// Returns a list of all the states
+ States_t getWaypointStates () const;
+
/// Select randomly an outgoing edge of the given state.
virtual EdgePtr_t chooseEdge(RoadmapNodePtr_t from) const;
diff --git a/src/graph/state-selector.cc b/src/graph/state-selector.cc
index 28d397b..657199d 100644
--- a/src/graph/state-selector.cc
+++ b/src/graph/state-selector.cc
@@ -72,6 +72,11 @@ namespace hpp {
return ret;
}
+ States_t StateSelector::getWaypointStates () const
+ {
+ return waypoints_;
+ }
+
StatePtr_t StateSelector::getState(ConfigurationIn_t config) const
{
for (WeighedStates_t::const_iterator it = orderedStates_.begin();
--
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