Add StateSelector::getWaypointStates

include/hpp/manipulation/graph/state-selector.hh

@@ -48,6 +48,9 @@ namespace hpp {
           /// Returns a list of all the states
           States_t getStates () const;
 
+          /// Returns a list of all the states
+          States_t getWaypointStates () const;
+
           /// Select randomly an outgoing edge of the given state.
           virtual EdgePtr_t chooseEdge(RoadmapNodePtr_t from) const;
 

src/graph/state-selector.cc

@@ -72,6 +72,11 @@ namespace hpp {
         return ret;
       }
 
+      States_t StateSelector::getWaypointStates () const
+      {
+        return waypoints_;
+      }
+
       StatePtr_t StateSelector::getState(ConfigurationIn_t config) const
       {
         for (WeighedStates_t::const_iterator it = orderedStates_.begin();