From dbb56443fc4ebb9c5f96e87f072bb4f008266ae8 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] Allow non-graph steering method for manipulation
---
src/problem-solver.cc | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 73f4a30..da020e1 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -111,9 +111,10 @@ namespace hpp {
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");
+ if (!gsm) {
+ return PathProjectorType::create (problem->distance(),
+ problem->steeringMethod(), step);
+ }
return PathProjectorType::create (problem->distance(),
gsm->innerSteeringMethod(), step);
}
--
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