From fd10b08f4007b2cdc72e34f7b3a6b42ec06f1718 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 20 Aug 2014 16:47:32 +0200
Subject: [PATCH] Use Constraint::isSatisfied instead of projecting
configurations
---
src/graph-path-validation.cc | 5 +----
1 file changed, 1 insertion(+), 4 deletions(-)
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index f27f669..9e6a4f1 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -90,10 +90,7 @@ namespace hpp {
ConstraintSetPtr_t constraints;
while (!possibleEdges.empty ()) {
constraints = constraintGraph_->pathConstraint (possibleEdges.back(), configAt (tmin));
- // TODO: We need a quick way of checking that a configuration
- // statisfies a constraint.
- Configuration_t cfg = configAt (tmax);
- if (constraints->apply(cfg) && ( cfg == configAt(tmax) )) {
+ if (constraints->isSatisfied (configAt (tmax))) {
validPart = path;
return true;
}
--
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