From 85f0bf360e018747024d6f59e77c6d945a748e8f Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 18 May 2019 16:29:58 +0200
Subject: [PATCH] Update to API change.
---
src/manipulation-planner.cc | 8 ++++----
src/symbolic-planner.cc | 8 ++++----
2 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 796dd4bb..cca61654 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -347,7 +347,7 @@ namespace hpp {
value_type distance;
for (core::Nodes_t::const_iterator itn1 = nodes.begin ();
itn1 != nodes.end (); ++itn1) {
- ConfigurationPtr_t q1 ((*itn1)->configuration ());
+ const Configuration_t& q1 (*(*itn1)->configuration ());
connectSucceed = false;
for (core::ConnectedComponents_t::const_iterator itcc =
roadmap ()->connectedComponents ().begin ();
@@ -364,9 +364,9 @@ namespace hpp {
hppDout (info, "the two nodes are already connected");
continue;
}
- ConfigurationPtr_t q2 ((*itn2)->configuration ());
- assert (*q1 != *q2);
- path = (*sm) (*q1, *q2);
+ const Configuration_t q2 (*(*itn2)->configuration ());
+ assert (q1 != q2);
+ path = sm->steer (q1, q2);
if (!path) continue;
if (pathProjector) {
if (!pathProjector->apply (path, projPath)) continue;
diff --git a/src/symbolic-planner.cc b/src/symbolic-planner.cc
index de4c278c..0d9fd5f4 100644
--- a/src/symbolic-planner.cc
+++ b/src/symbolic-planner.cc
@@ -432,7 +432,7 @@ namespace hpp {
value_type distance;
for (core::Nodes_t::const_iterator itn1 = nodes.begin ();
itn1 != nodes.end (); ++itn1) {
- ConfigurationPtr_t q1 ((*itn1)->configuration ());
+ const Configuration_t& q1 (*(*itn1)->configuration ());
connectSucceed = false;
for (core::ConnectedComponents_t::const_iterator itcc =
roadmap ()->connectedComponents ().begin ();
@@ -449,9 +449,9 @@ namespace hpp {
hppDout (info, "the two nodes are already connected");
continue;
}
- ConfigurationPtr_t q2 ((*itn2)->configuration ());
- assert (*q1 != *q2);
- path = (*sm) (*q1, *q2);
+ const Configuration_t& q2 (*(*itn2)->configuration ());
+ assert (q1 != q2);
+ path = sm->steer (q1, q2);
if (!path) continue;
if (pathProjector) {
if (!pathProjector->apply (path, projPath)) continue;
--
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