Fix enum and case validity check in graph helper.

include/hpp/manipulation/graph/helper.hh

@@ -88,14 +88,14 @@ namespace hpp {
         };
 
         enum GraspingCase {
-          NoGrasp = 0,
-          GraspOnly = 1 << 0,
-          WithPreGrasp = 1 << 1
+          NoGrasp = 1 << 0,
+          GraspOnly = 1 << 1,
+          WithPreGrasp = 1 << 2
         };
         enum PlacementCase {
-          NoPlace = 1 << 2,
-          PlaceOnly = 1 << 3,
-          WithPrePlace = 1 << 4
+          NoPlace = 1 << 3,
+          PlaceOnly = 1 << 4,
+          WithPrePlace = 1 << 5
         };
 
 	struct Rule {

src/graph/helper.cc

@@ -118,7 +118,10 @@ namespace hpp {
               static const bool pregrasp = (gCase & WithPreGrasp);
               static const bool intersec = !((gCase & NoGrasp) || (gCase & NoPlace));
               static const bool preplace = (gCase & WithPrePlace);
-              static const bool valid = !(gCase == (NoGrasp | NoPlace));
+              static const bool valid =
+                   ( (gCase & WithPreGrasp) || (gCase & GraspOnly) || (gCase & NoGrasp) )
+                && ( (gCase & WithPrePlace) || (gCase & PlaceOnly) || (gCase & NoPlace) )
+                && !(gCase == (NoGrasp | NoPlace));
 
               static const std::size_t nbWaypoints = (pregrasp?1:0) + (intersec?1:0) + (preplace?1:0);
               static const std::size_t Nnodes = 2 + nbWaypoints;