From dddb3e7bfcd5bd7598e2007d436edd9181dff9c0 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 10 Dec 2014 13:47:47 +0100
Subject: [PATCH] Update to commit 3af22d6 in hpp-core
Path now store the size of the output derivative.
---
src/graph-path-validation.cc | 6 ++++--
src/graph/edge.cc | 4 +++-
2 files changed, 7 insertions(+), 3 deletions(-)
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index ffaf600..e550786 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -45,7 +45,8 @@ namespace hpp {
for (int i = path->numberPaths () - 1; i >= 0; i--) {
// We should stop at the first non valid subpath.
if (!impl_validate (path->pathAtRank (i), true, validSubPart)) {
- PathVectorPtr_t p = PathVector::create (path->outputSize());
+ PathVectorPtr_t p = PathVector::create
+ (path->outputSize(), path->outputDerivativeSize());
for (int v = path->numberPaths () - 1; v > i; v--)
p->appendPath (path->pathAtRank(i)->copy());
// TODO: Make sure this subpart is generated by the steering method.
@@ -58,7 +59,8 @@ namespace hpp {
for (size_t i = 0; i != path->numberPaths (); i++) {
// We should stop at the first non valid subpath.
if (!impl_validate (path->pathAtRank (i), false, validSubPart)) {
- PathVectorPtr_t p = PathVector::create (path->outputSize());
+ PathVectorPtr_t p = PathVector::create
+ (path->outputSize(), path->outputDerivativeSize());
for (size_t v = 0; v < i; v++)
p->appendPath (path->pathAtRank(v)->copy());
// TODO: Make sure this subpart is generated by the steering method.
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index a6361a0..31f3a7d 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -211,7 +211,9 @@ namespace hpp {
return false;
core::PathVectorPtr_t pv = HPP_DYNAMIC_PTR_CAST (core::PathVector, pathToWaypoint);
if (!pv) {
- pv = core::PathVector::create (graph_.lock ()->robot ()->configSize ());
+ pv = core::PathVector::create
+ (graph_.lock ()->robot ()->configSize (),
+ graph_.lock ()->robot ()->numberDof ());
pv->appendPath (pathToWaypoint);
}
path = pv;
--
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