From e6a6809d1e22a2d2bc9f9f76f58fd14f48e8d4ad Mon Sep 17 00:00:00 2001
From: hdallard <hdallard@laas.fr>
Date: Thu, 2 Jun 2016 10:30:09 +0200
Subject: [PATCH] Pass a list of rules in graph autoBuild
---
include/hpp/manipulation/graph/helper.hh | 13 +++++++++++++
src/graph/helper.cc | 1 +
2 files changed, 14 insertions(+)
diff --git a/include/hpp/manipulation/graph/helper.hh b/include/hpp/manipulation/graph/helper.hh
index 6ad3c14..fef32a1 100644
--- a/include/hpp/manipulation/graph/helper.hh
+++ b/include/hpp/manipulation/graph/helper.hh
@@ -98,6 +98,18 @@ namespace hpp {
WithPrePlace = 1 << 4
};
+ struct Rule {
+ std::string gripper_;
+ std::string handle_;
+ bool link_;
+ Rule() : gripper_(""), handle_(""), link_(false) {}
+ Rule(std::string gripper, std::string handle, bool link) {
+ gripper_ = gripper;
+ handle_ = handle;
+ link_ = link;
+ }
+ };
+
/// Create edges according to the case.
/// gCase is a logical OR combination of GraspingCase and PlacementCase
///
@@ -191,6 +203,7 @@ namespace hpp {
const StringList_t& griNames,
const std::list <ObjectDef_t>& objs,
const StringList_t& envNames,
+ const std::vector<Rule>& rules,
const value_type& prePlaceWidth = 0.05);
/// \}
} // namespace helper
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index eb8a2ee..b705dd5 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -878,6 +878,7 @@ namespace hpp {
const StringList_t& griNames,
const std::list <ObjectDef_t>& objs,
const StringList_t& envNames,
+ const std::vector <Rule>& rules,
const value_type& prePlaceWidth)
{
const Device& robot = *(ps->robot ());
--
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