From 38a7e7e2c2a06a264f247d89edacfd2701b23ba1 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 4 Dec 2015 15:17:00 +0100
Subject: [PATCH] Add argument margin to
ProblemSolver::createPlacementConstraint
---
include/hpp/manipulation/problem-solver.hh | 4 +++-
src/problem-solver.cc | 4 +++-
2 files changed, 6 insertions(+), 2 deletions(-)
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index d3e77af4..db2e558f 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -94,10 +94,12 @@ namespace hpp {
/// \param name name of the placement constraint,
/// \param triangleName name of the first list of triangles,
/// \param envContactName name of the second list of triangles.
+ /// \param margin see hpp::constraints::QPStaticStability constructor
///
void createPlacementConstraint (const std::string& name,
const std::string& surface1,
- const std::string& surface2);
+ const std::string& surface2,
+ const value_type& margin = 1e-4);
/// Reset constraint set and put back the disable collisions
/// between gripper and handle
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 5356b2ce..359e0a07 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -137,7 +137,7 @@ namespace hpp {
void ProblemSolver::createPlacementConstraint
(const std::string& name, const std::string& surface1,
- const std::string& surface2)
+ const std::string& surface2, const value_type& margin)
{
if (!robot_) throw std::runtime_error ("No robot loaded");
using constraints::ConvexShape;
@@ -169,6 +169,8 @@ namespace hpp {
constraints.first->addFloor (ConvexShape (it->second, it->first));
}
+ constraints.first->setNormalMargin (margin);
+
addNumericalConstraint (name, NumericalConstraint::create
(constraints.first));
addNumericalConstraint (complementName, NumericalConstraint::create
--
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