From 95a7f84cc6b82476f88ea780d1238ce37a7ccc69 Mon Sep 17 00:00:00 2001
From: hdallard <hdallard@laas.fr>
Date: Mon, 13 Jun 2016 17:52:28 +0200
Subject: [PATCH] Add function to reset constraints
---
include/hpp/manipulation/graph/graph-component.hh | 6 ++++++
src/graph/graph-component.cc | 10 ++++++++++
2 files changed, 16 insertions(+)
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 409286ba..502c8093 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -73,10 +73,16 @@ namespace hpp {
(const DifferentiableFunctionPtr_t& function, const ComparisonTypePtr_t& ineq)
HPP_MANIPULATION_DEPRECATED;
+ /// Reset the numerical constraints stored in the component.
+ virtual void resetNumericalConstraints ();
+
/// Add core::LockedJoint constraint to the component.
virtual void addLockedJointConstraint
(const LockedJointPtr_t& constraint);
+ /// Reset the locked joint in the component.
+ virtual void resetLockedJoints ();
+
/// Insert the numerical constraints in a ConfigProjector
/// \return true is at least one NumericalConstraintPtr_t was inserted.
bool insertNumericalConstraints (ConfigProjectorPtr_t& proj) const;
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index cadd9058..79a5c29d 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -75,12 +75,22 @@ namespace hpp {
addNumericalConstraint (NumericalConstraint::create (function,ineq));
}
+ void GraphComponent::resetNumericalConstraints ()
+ {
+ numericalConstraints_.clear();
+ }
+
void GraphComponent::addLockedJointConstraint
(const LockedJointPtr_t& constraint)
{
lockedJoints_.push_back (constraint);
}
+ void GraphComponent::resetLockedJoints ()
+ {
+ lockedJoints_.clear();
+ }
+
bool GraphComponent::insertNumericalConstraints (ConfigProjectorPtr_t& proj) const
{
IntervalsContainer_t::const_iterator itpdof = passiveDofs_.begin ();
--
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