From a93337ec62a32f8a569bbc807390b5bf6aaf334a Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 4 Sep 2015 11:34:27 +0200
Subject: [PATCH] Reimplement Roadmap::createNode
---
include/hpp/manipulation/roadmap.hh | 3 +++
src/roadmap.cc | 5 +++++
2 files changed, 8 insertions(+)
diff --git a/include/hpp/manipulation/roadmap.hh b/include/hpp/manipulation/roadmap.hh
index d7cf14fe..14d0fb13 100644
--- a/include/hpp/manipulation/roadmap.hh
+++ b/include/hpp/manipulation/roadmap.hh
@@ -69,6 +69,9 @@ namespace hpp {
/// Constructor
Roadmap (const core::DistancePtr_t& distance, const core::DevicePtr_t& robot);
+ /// Node factory
+ core::NodePtr_t createNode (const ConfigurationPtr_t& config) const;
+
private:
typedef std::list < graph::HistogramPtr_t > Histograms;
/// Keep track of the leaf that are explored.
diff --git a/src/roadmap.cc b/src/roadmap.cc
index fe246ecc..f4380b7c 100644
--- a/src/roadmap.cc
+++ b/src/roadmap.cc
@@ -98,5 +98,10 @@ namespace hpp {
}
return result;
}
+
+ core::NodePtr_t Roadmap::createNode (const ConfigurationPtr_t& q) const
+ {
+ return RoadmapNodePtr_t (new RoadmapNode (q));
+ }
} // namespace manipulation
} // namespace hpp
--
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