From eb4b73ba51aae888d961fee7fcea6404cbfaf61d Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 27 Aug 2014 19:29:14 +0200
Subject: [PATCH] Update Graph::configConstraint and Graph::pathConstraint
---
include/hpp/manipulation/graph/graph.hh | 16 ++++++++++++----
src/graph/graph.cc | 16 ++++++++++++++--
2 files changed, 26 insertions(+), 6 deletions(-)
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 5872d8f..b178033 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -58,17 +58,25 @@ namespace hpp {
/// \return The initialized projector.
ConstraintSetPtr_t configConstraint (const Nodes_t& nodes);
+ /// Kept for compatibility. Do not use. Use configConstraint(const Edges_t&) instead
+ /// \param config Configuration that will initialize the projector.
+ /// \return The initialized constraint.
+ ConstraintSetPtr_t configConstraint (const Edges_t& edges, ConfigurationIn_t config) __attribute__ ((deprecated));
+
/// Constraint to project onto the same leaf as config.
/// \param edges a list of edges defining the foliation.
- /// \param config Configuration that will initialize the projector.
- /// \return The initialized projector.
- ConstraintSetPtr_t configConstraint (const Edges_t& edges, ConfigurationIn_t config);
+ /// \return The constraint.
+ ConstraintSetPtr_t configConstraint (const Edges_t& edges);
/// Constraint to project a path.
/// \param edges a list of edges defining the foliation.
+ /// \return The constraint.
+ ConstraintSetPtr_t pathConstraint (const Edges_t& edges);
+
+ /// Kept for compatibility. Do not use. Use pathConstraint(const Edges_t&) instead
/// \param config Configuration that will initialize the constraint.
/// \return The initialized constraint.
- ConstraintSetPtr_t pathConstraint (const Edges_t& edges, ConfigurationIn_t config);
+ ConstraintSetPtr_t pathConstraint (const Edges_t& edges, ConfigurationIn_t config) __attribute__ ((deprecated));
/// Return the NodeSelector with the given name if any,
/// NULL pointer if not found.
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index c763ca1..f3dfeb0 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -194,6 +194,13 @@ namespace hpp {
}
ConstraintSetPtr_t Graph::configConstraint (const Edges_t& edges, ConfigurationIn_t config)
+ {
+ ConstraintSetPtr_t constraint = configConstraint (edges);
+ constraint->offsetFromConfig (config);
+ return constraint;
+ }
+
+ ConstraintSetPtr_t Graph::configConstraint (const Edges_t& edges)
{
ConstraintSetPtr_t constraint;
MapFromEdge::const_iterator it = cfgConstraintSetMapFromEdge_.find (edges);
@@ -220,11 +227,17 @@ namespace hpp {
constraint = it->second;
}
- constraint->offsetFromConfig (config);
return constraint;
}
ConstraintSetPtr_t Graph::pathConstraint (const Edges_t& edges, ConfigurationIn_t config)
+ {
+ ConstraintSetPtr_t constraint = pathConstraint (edges);
+ constraint->offsetFromConfig (config);
+ return constraint;
+ }
+
+ ConstraintSetPtr_t Graph::pathConstraint (const Edges_t& edges)
{
ConstraintSetPtr_t constraint;
MapFromEdge::const_iterator it = pathConstraintSetMapFromEdge_.find (edges);
@@ -247,7 +260,6 @@ namespace hpp {
constraint = it->second;
}
- constraint->offsetFromConfig (config);
return constraint;
}
--
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