From d99c7c1862a9c5024d1b3222374067181de8b720 Mon Sep 17 00:00:00 2001
From: Le Quang Anh <43576719+Toefinder@users.noreply.github.com>
Date: Tue, 7 Jun 2022 17:26:57 +0200
Subject: [PATCH] [ProblemSolver] Allow non-graph steering method in
createPathProjector
Path projectors are defined in core::ProblemSolver and overloaded in
manipulation::ProblemSolver. Formerly, the overloaded method checked that
the steering method was of type manipulation::SteeringMethod and created
the path projector with the inner steering of the latter.
This commit modifies this behavior since calling idl method
hpp::corbaserver::Problem::createPathPlanner with a core_idl::Problem
instance as input fails when the problem solver is of type
manipulation::ProblemSolver.
---
src/problem-solver.cc | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 32ef77b..bdd9e0b 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -105,9 +105,8 @@ core::PathProjectorPtr_t createPathProjector(
steeringMethod::GraphPtr_t gsm =
HPP_DYNAMIC_PTR_CAST(steeringMethod::Graph, problem->steeringMethod());
if (!gsm)
- throw std::logic_error(
- "The steering method should be of type"
- " steeringMethod::Graph");
+ return PathProjectorType::create (problem->distance(),
+ problem->steeringMethod(), step);
return PathProjectorType::create(problem->distance(),
gsm->innerSteeringMethod(), step);
}
--
GitLab