From a719b2676ee72e771010869df92d5737a9e23cf7 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 16 Nov 2018 16:51:18 +0100
Subject: [PATCH] Copy parameters when resetting the problem
---
src/problem-solver.cc | 9 ++++++---
1 file changed, 6 insertions(+), 3 deletions(-)
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 75564fbc..1e6cf1bc 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -193,9 +193,12 @@ namespace hpp {
void ProblemSolver::resetProblem ()
{
- if (problem_)
- delete (problem_);
- initializeProblem (new Problem (robot_));
+ ProblemPtr_t p (new Problem (robot_));
+ if (problem_) {
+ p->parameters = problem_->parameters;
+ delete problem_;
+ }
+ initializeProblem (p);
}
void ProblemSolver::initializeProblem (ProblemPtr_t problem)
--
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