Update to modification in path optimizer management

  - several path optimizers can be used.

script/hrp2_walk.py

@@ -14,7 +14,6 @@ vf = ViewerFactory (ps)
 
 robot.setJointBounds ("hrp2/base_joint_xyz", [-0.2,0.8,-0.5,0.5, 0,2])
 
-ps.selectPathOptimizer ('None')
 ps.selectPathProjector ('Progressive', 0.2)
 ps.setErrorThreshold (1e-3)
 ps.setMaxIterations (40)

script/test_graph_two_hands.py

@@ -61,7 +61,6 @@ q_inter = [-0.8017105239677402, -0.5977125025958312, -0.796440524800078, 0.60471
 # 3}}}
 
 robot.client.basic.problem.resetRoadmap ()
-robot.client.basic.problem.selectPathOptimizer ('None')
 robot.client.basic.problem.setErrorThreshold (1e-3)
 robot.client.basic.problem.setMaxIterations (40)
 ps.selectPathProjector ('Progressive', 0.2)

script/test_rrt.py

@@ -60,6 +60,7 @@ else:
 
 ps.setInitialConfig (q1proj)
 ps.addGoalConfig (q2proj)
+ps.addPathOptimizer ("RandomShortcut")
 ps.solve ()
 
 pp = PathPlayer (cl, r)

script/test_simple_graph.py

@@ -24,7 +24,6 @@ vf.loadObjectModel (ScrewGun, 'screw_gun')
 for d in ["hrp2", "screw_gun"]:
   robot.setJointBounds (d+"/base_joint_xyz", [-4,4,-4,4,-4,4])
 
-ps.selectPathOptimizer ('None')
 ps.selectPathProjector ("Progressive", 0.2)
 ps.setErrorThreshold (1e-3)
 ps.setMaxIterations (40)