Update to modification of corba interface method Problem::applyConstraint.

script/test_rrt.py

@@ -41,13 +41,24 @@ for name, value in lockedDofs.iteritems ():
 
 q1 = [0.0, 0.0, 0.705, 1.0, 0., 0., 0.0, 0.0, 0.0, 0.0, 0.0, -0.4, 0, -1.2, -1.0, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0]
 
-q1proj = p.applyConstraints (q1)
+res = p.applyConstraints (q1)
+if res [0]:
+    q1proj = res [1]
+else:
+    raise RuntimeError ("Failed to apply constraint.")
+
 
 q2 = [0.0, 0.0, 0.705, 1, 0, 0, 0, 0.0, 0.0, 0.0, 0.0, 1.0, 0, -1.4, -1.0, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0]
 
-q2proj = p.applyConstraints (q2)
+res = p.applyConstraints (q2)
+if res [0]:
+    q2proj = res [1]
+else:
+    raise RuntimeError ("Failed to apply constraint.")
 
 p.setInitialConfig (q1proj)
 p.addGoalConfig (q2proj)
 p.solve ()
 
+p = PathPlayer (cl, r)
+p (1)