From 87bf261319f58f39dd54c2ef578e1011d94d55b3 Mon Sep 17 00:00:00 2001
From: Raphael Lefevre <rlefevre@laas.fr>
Date: Wed, 21 Feb 2018 14:20:24 +0100
Subject: [PATCH] Initialization of the transition path validation
---
include/hpp/manipulation/graph/graph-component.hh | 8 ++++----
include/hpp/manipulation/problem.hh | 6 +-----
src/graph/graph-component.cc | 10 ++++++++++
src/problem.cc | 10 ++++++++++
4 files changed, 25 insertions(+), 9 deletions(-)
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 0c4e7696..9007b9e4 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -100,6 +100,9 @@ namespace hpp {
/// Print the component in DOT language.
virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
+ /// Declare a component as dirty
+ void setDirty();
+
protected:
/// Initialize the component
void init (const GraphComponentWkPtr_t& weak);
@@ -120,10 +123,7 @@ namespace hpp {
bool isInit_;
- void throwIfNotInitialized () const
- {
- if (!isInit_) throw std::logic_error ("The graph should have been initialized first.");
- }
+ void throwIfNotInitialized () const;
/// Print the object in a stream.
virtual std::ostream& print (std::ostream& os) const;
diff --git a/include/hpp/manipulation/problem.hh b/include/hpp/manipulation/problem.hh
index c7c318b5..34bc9e48 100644
--- a/include/hpp/manipulation/problem.hh
+++ b/include/hpp/manipulation/problem.hh
@@ -74,11 +74,7 @@ namespace hpp {
void setPathValidationFactory (
const core::PathValidationBuilder_t& factory,
- const value_type& tol)
- {
- pvFactory_ = factory;
- pvTol_ = tol;
- }
+ const value_type& tol);
private:
/// The graph of constraints
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index b53bfd0a..b609ea8e 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -45,6 +45,11 @@ namespace hpp {
return os;
}
+ void GraphComponent::setDirty()
+ {
+ isInit_ = false;
+ }
+
void GraphComponent::addNumericalConstraint (const NumericalConstraintPtr_t& nm,
const segments_t& passiveDofs)
{
@@ -132,6 +137,11 @@ namespace hpp {
wkPtr_ = weak;
}
+ void GraphComponent::throwIfNotInitialized () const
+ {
+ if (!isInit_ || (graph_.lock() && !graph_.lock()->isInit_)) throw std::logic_error ("The graph should have been initialized first.");
+ }
+
std::ostream& operator<< (std::ostream& os,
const hpp::manipulation::graph::GraphComponent& graphComp)
{
diff --git a/src/problem.cc b/src/problem.cc
index 78a1b72c..69a00b26 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -21,6 +21,7 @@
#include <hpp/manipulation/weighed-distance.hh>
#include <hpp/manipulation/graph-steering-method.hh>
#include <hpp/manipulation/graph-path-validation.hh>
+#include <hpp/manipulation/graph/graph.hh>
namespace hpp {
namespace manipulation {
@@ -73,5 +74,14 @@ namespace hpp {
return HPP_DYNAMIC_PTR_CAST (SteeringMethod,
Parent::steeringMethod());
}
+
+ void Problem::setPathValidationFactory (
+ const core::PathValidationBuilder_t& factory,
+ const value_type& tol)
+ {
+ pvFactory_ = factory;
+ pvTol_ = tol;
+ if (graph_) graph_->setDirty();
+ }
} // namespace manipulation
} // namespace hpp
--
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