From dcb01844458cda3d2401fd3da28d665e80e5ba5d Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 18 Aug 2016 17:07:41 +0200
Subject: [PATCH] Fix enum and case validity check in graph helper.
---
include/hpp/manipulation/graph/helper.hh | 12 ++++++------
src/graph/helper.cc | 5 ++++-
2 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/include/hpp/manipulation/graph/helper.hh b/include/hpp/manipulation/graph/helper.hh
index fce9ee8..f891610 100644
--- a/include/hpp/manipulation/graph/helper.hh
+++ b/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 {
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 35ad351..46faba9 100644
--- a/src/graph/helper.cc
+++ b/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;
--
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