Update to commit 3af22d6 in hpp-core

  Path now store the size of the output derivative.

src/graph-path-validation.cc

@@ -49,7 +49,8 @@ namespace hpp {
         for (int i = path->numberPaths () - 1; i >= 0; i--) {
           // We should stop at the first non valid subpath.
           if (!impl_validate (path->pathAtRank (i), true, validSubPart)) {
-            PathVectorPtr_t p = PathVector::create (path->outputSize());
+            PathVectorPtr_t p = PathVector::create
+	      (path->outputSize(), path->outputDerivativeSize());
             for (int v = path->numberPaths () - 1; v > i; v--)
               p->appendPath (path->pathAtRank(i)->copy());
             // TODO: Make sure this subpart is generated by the steering method.
@@ -62,7 +63,8 @@ namespace hpp {
         for (size_t i = 0; i != path->numberPaths (); i++) {
           // We should stop at the first non valid subpath.
           if (!impl_validate (path->pathAtRank (i), false, validSubPart)) {
-            PathVectorPtr_t p = PathVector::create (path->outputSize());
+            PathVectorPtr_t p = PathVector::create
+	      (path->outputSize(), path->outputDerivativeSize());
             for (size_t v = 0; v < i; v++)
               p->appendPath (path->pathAtRank(v)->copy());
             // TODO: Make sure this subpart is generated by the steering method.

src/graph/edge.cc

@@ -211,7 +211,9 @@ namespace hpp {
           return false;
         core::PathVectorPtr_t pv = HPP_DYNAMIC_PTR_CAST (core::PathVector, pathToWaypoint);
         if (!pv) {
-          pv = core::PathVector::create (graph_.lock ()->robot ()->configSize ());
+          pv = core::PathVector::create
+	    (graph_.lock ()->robot ()->configSize (),
+	     graph_.lock ()->robot ()->numberDof ());
           pv->appendPath (pathToWaypoint);
         }
         path = pv;