diff --git a/src/graph/helper.cc b/src/graph/helper.cc index 46faba9e71074d01bf613a05833bccf63678340a..c9a6fe706fbd56e3a5e90b46209856bf9d5d3e1e 100644 --- a/src/graph/helper.cc +++ b/src/graph/helper.cc @@ -192,10 +192,10 @@ namespace hpp { we->nbWaypoints (nbWaypoints); gls = linkWaypoint <LevelSetEdge> (n, T-1, T, name, "ls"); for (std::size_t i = 0; i < Nedges - 1; ++i) - we->setWaypoint (Nedges - 1 - i, e[i], n[i]); + we->setWaypoint (i, e[i], n[i]); we->setWaypoint (T-1, gls, n[T]); gls->node (n.front()); - gls->setShort (preplace); + gls->setShort (pregrasp); return we; } else { assert (gCase == (GraspOnly | NoPlace) @@ -225,8 +225,8 @@ namespace hpp { pls->setShort (preplace); return we; } else { - assert (gCase == (GraspOnly | NoPlace) - && "Cannot implement a LevelSetEdge for grasping"); + assert (gCase == (NoGrasp | PlaceOnly) + && "Cannot implement a LevelSetEdge for placement"); pls = boost::static_pointer_cast <LevelSetEdge> (n.back()->linkTo (name + "_ls", n.front(), w, LevelSetEdge::create));