From ea5145bb31c1e02a14041a81546e02bce55eef5a Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 4 Dec 2015 15:20:16 +0100
Subject: [PATCH] Graph-RandomShortcut: use inner path validation
* instead of GraphPathValidation for each random shorcut
---
src/graph-optimizer.cc | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/src/graph-optimizer.cc b/src/graph-optimizer.cc
index 95e21f5..3972318 100644
--- a/src/graph-optimizer.cc
+++ b/src/graph-optimizer.cc
@@ -17,6 +17,7 @@
#include <hpp/manipulation/graph-optimizer.hh>
#include <hpp/manipulation/graph/edge.hh>
+#include <hpp/manipulation/graph-path-validation.hh>
namespace hpp {
namespace manipulation {
@@ -27,6 +28,9 @@ namespace hpp {
expanded = PathVector::create
(path->outputSize(), path->outputDerivativeSize()),
toConcat;
+ GraphPathValidationPtr_t gpv = HPP_DYNAMIC_PTR_CAST (GraphPathValidation,
+ this->problem().pathValidation ());
+ const_cast <core::Problem&>(this->problem ()).pathValidation (gpv->innerValidation());
unpack (path, expanded);
ConstraintSetPtr_t c;
for (std::size_t i_s = 0; i_s < expanded->numberPaths ();) {
@@ -51,6 +55,7 @@ namespace hpp {
opted->concatenate (*toConcat);
}
pathOptimizer_.reset ();
+ const_cast <core::Problem&>(this->problem ()).pathValidation (gpv);
return opted;
}
--
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