From 37e8bae97d3b535303c89ff221dab813ce3cb2f4 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 22 Oct 2019 15:13:23 +0200
Subject: [PATCH] Rename Problem::steeringMethod -> manipulationSteeringMethod
---
include/hpp/manipulation/problem.hh | 7 +------
src/graph/edge.cc | 2 +-
src/problem.cc | 2 +-
3 files changed, 3 insertions(+), 8 deletions(-)
diff --git a/include/hpp/manipulation/problem.hh b/include/hpp/manipulation/problem.hh
index b827071c..ab624ac1 100644
--- a/include/hpp/manipulation/problem.hh
+++ b/include/hpp/manipulation/problem.hh
@@ -57,12 +57,7 @@ namespace hpp {
void pathValidation (const PathValidationPtr_t& pathValidation);
/// Get the steering method as a SteeringMethod
- SteeringMethodPtr_t steeringMethod () const;
-
- void steeringMethod (core::SteeringMethodPtr_t sm)
- {
- Parent::steeringMethod (sm);
- }
+ SteeringMethodPtr_t manipulationSteeringMethod () const;
/// Build a new path validation
/// \note Current obstacles are added to the created object.
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index e2acc46d..ffda4419 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -279,7 +279,7 @@ namespace hpp {
// Build steering method
const ProblemPtr_t& problem (g->problem());
- steeringMethod_ = problem->steeringMethod()->innerSteeringMethod()->copy();
+ steeringMethod_ = problem->manipulationSteeringMethod()->innerSteeringMethod()->copy();
steeringMethod_->constraints (constraint);
// Build path validation and relative motion matrix
// TODO this path validation will not contain obstacles added after
diff --git a/src/problem.cc b/src/problem.cc
index 8d988253..002e0b0a 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -84,7 +84,7 @@ namespace hpp {
return pv;
}
- SteeringMethodPtr_t Problem::steeringMethod () const
+ SteeringMethodPtr_t Problem::manipulationSteeringMethod () const
{
return HPP_DYNAMIC_PTR_CAST (SteeringMethod,
Parent::steeringMethod());
--
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