Use ConfigurationIn_t instead of const Configuration_t.

include/hpp/manipulation/graph/graph.hh

@@ -45,7 +45,7 @@ namespace hpp {
           NodeSelectorPtr_t createNodeSelector ();
 
           /// Returns the states of a configuration.
-          NodePtr_t getNode (const Configuration_t config) const;
+          NodePtr_t getNode (ConfigurationIn_t config) const;
 
           /// Get possible edges between two nodes.
           Edges_t getEdges (const NodePtr_t& from, const NodePtr_t& to) const;

include/hpp/manipulation/graph/node-selector.hh

@@ -37,7 +37,7 @@ namespace hpp {
           NodePtr_t createNode ();
 
           /// Returns the state of a configuration.
-          NodePtr_t getNode(const Configuration_t config) const;
+          NodePtr_t getNode(ConfigurationIn_t config) const;
 
           /// Select randomly an outgoing edge of the given node.
           virtual EdgePtr_t chooseEdge(const NodePtr_t& node) const;

src/graph/graph.cc

@@ -72,7 +72,7 @@ namespace hpp {
         return robot_;
       }
 
-      NodePtr_t Graph::getNode (const Configuration_t config) const
+      NodePtr_t Graph::getNode (ConfigurationIn_t config) const
       {
         return nodeSelector_->getNode (config);
       }

src/graph/node-selector.cc

@@ -44,7 +44,7 @@ namespace hpp {
         return newNode;
       }
 
-      NodePtr_t NodeSelector::getNode(const Configuration_t config) const
+      NodePtr_t NodeSelector::getNode(ConfigurationIn_t config) const
       {
         for (Nodes_t::const_iterator it = orderedStates_.begin();
             orderedStates_.end() != it; ++it)

src/graph/node.cc

@@ -53,7 +53,7 @@ namespace hpp {
         return newEdge;
       }
 
-      bool Node::contains (ConfigurationIn_t config)
+      bool Node::contains (ConfigurationIn_t config) const
       {
         return configConstraint()->isSatisfied (config);
       }