From c1d890ec69800e3e77dda20fc13b5c611be22e4f Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 8 Dec 2015 13:11:21 +0100
Subject: [PATCH] Add Edge::setShort
---
include/hpp/manipulation/graph/edge.hh | 6 ++++++
src/graph/edge.cc | 13 ++++++-------
2 files changed, 12 insertions(+), 7 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index be27b5f..cfd5711 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -116,6 +116,10 @@ namespace hpp {
/// \return The initialized projector.
ConstraintSetPtr_t configConstraint() const;
+ void setShort (bool isShort) {
+ isShort_ = isShort;
+ }
+
protected:
/// Initialization of the object.
void init (const EdgeWkPtr_t& weak, const GraphWkPtr_t& graph, const NodeWkPtr_t& from,
@@ -136,6 +140,8 @@ namespace hpp {
/// Print the object in a stream.
virtual std::ostream& print (std::ostream& os) const;
+ bool isShort_;
+
private:
typedef Cache < ConstraintSetPtr_t > Constraint_t;
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 43a835e..84c6e4b 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -34,7 +34,8 @@ namespace hpp {
namespace graph {
Edge::Edge (const std::string& name,
const core::SteeringMethodPtr_t& steeringMethod) :
- GraphComponent (name), pathConstraints_ (new Constraint_t()),
+ GraphComponent (name), isShort_ (false),
+ pathConstraints_ (new Constraint_t()),
configConstraints_ (new Constraint_t()),
steeringMethod_ (steeringMethod->copy ())
{}
@@ -275,10 +276,8 @@ namespace hpp {
ConstraintSetPtr_t c = configConstraint ();
ConfigProjectorPtr_t proj = c->configProjector ();
proj->rightHandSideFromConfig (qoffset);
- if (c->apply (q)) {
- return true;
- }
- assert (proj);
+ if (isShort_) q = qoffset;
+ if (c->apply (q)) return true;
::hpp::statistics::SuccessStatistics& ss = proj->statistics ();
if (ss.nbFailure () > ss.nbSuccess ()) {
hppDout (warning, c->name () << " fails often." << std::endl << ss);
@@ -478,8 +477,8 @@ namespace hpp {
cp->updateRightHandSide ();
// Eventually, do the projection.
- if (cs->apply (q))
- return true;
+ if (isShort_) q = q_offset;
+ if (cs->apply (q)) return true;
::hpp::statistics::SuccessStatistics& ss = cp->statistics ();
if (ss.nbFailure () > ss.nbSuccess ()) {
hppDout (warning, cs->name () << " fails often." << std::endl << ss);
--
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