From fc5d73c98b4f276a0309d2c9b008d70519b6f1c3 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 29 Jun 2016 09:35:46 +0200
Subject: [PATCH] Revert "in ManipulationPlanner::extend, test that qProj is
different from q_near"
This reverts commit 5a357d1ae5a383833bb4a5d684fa2268f9831408.
Conflicts:
src/manipulation-planner.cc
---
src/graph/edge.cc | 1 -
1 file changed, 1 deletion(-)
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index da9f99d..c51297f 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -286,7 +286,6 @@ namespace hpp {
constraints->configProjector ()->rightHandSideFromConfig(q1);
if (constraints->isSatisfied (q1)) {
if (constraints->isSatisfied (q2)) {
- if (q1.isApprox (q2)) return false;
path = (*steeringMethod_->get()) (q1, q2);
return path;
}
--
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