From 78f329b06f645eeea334b76d0df5d83ce14488bc Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 15 Sep 2015 19:03:53 +0200
Subject: [PATCH] Add path planner type and path validation type in
ProblemSolver constructor.
---
include/hpp/manipulation/problem-solver.hh | 5 +----
src/problem-solver.cc | 12 ++++++++++++
2 files changed, 13 insertions(+), 4 deletions(-)
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 3d7466c9..64369d93 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -40,10 +40,7 @@ namespace hpp {
virtual ~ProblemSolver ()
{}
- ProblemSolver () :
- core::ProblemSolver (), robot_ (), problem_ (0x0), graspsMap_()
- {
- }
+ ProblemSolver ();
static ProblemSolverPtr_t create ();
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index b15aedd0..95be01f8 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -23,6 +23,7 @@
#include <hpp/model/gripper.hh>
#include <hpp/core/roadmap.hh>
+#include <hpp/core/discretized-collision-checking.hh>
#include "hpp/manipulation/device.hh"
#include "hpp/manipulation/handle.hh"
@@ -30,6 +31,7 @@
#include "hpp/manipulation/manipulation-planner.hh"
#include "hpp/manipulation/problem.hh"
#include "hpp/manipulation/roadmap.hh"
+#include "hpp/manipulation/graph-path-validation.hh"
namespace hpp {
namespace manipulation {
@@ -38,6 +40,16 @@ namespace hpp {
return robot.print (os);
}
+ ProblemSolver::ProblemSolver () :
+ core::ProblemSolver (), robot_ (), problem_ (0x0), graspsMap_()
+ {
+ addPathPlannerType ("M-RRT", ManipulationPlanner::create);
+ addPathValidationType ("Graph-discretized",
+ GraphPathValidation::create <core::DiscretizedCollisionChecking>);
+ pathPlannerType ("M-RRT");
+ pathValidationType ("Graph-discretized", 0.05);
+ }
+
ProblemSolverPtr_t ProblemSolver::create ()
{
return ProblemSolverPtr_t (new ProblemSolver ());
--
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