From d29550a333aaeddf8072836839b57634c280b84a Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 21 Oct 2015 21:26:49 +0200
Subject: [PATCH] Store grasp by NumericalConstraint instead of
DifferentiableFunction
in ProblemSolver map.
---
include/hpp/manipulation/fwd.hh | 2 +-
include/hpp/manipulation/problem-solver.hh | 4 ++--
src/problem-solver.cc | 14 +++++++-------
3 files changed, 10 insertions(+), 10 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 7b17ee90..c9d1de0a 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -111,7 +111,7 @@ namespace hpp {
typedef std::list < NumericalConstraintPtr_t > NumericalConstraints_t;
typedef std::pair< GripperPtr_t, HandlePtr_t> Grasp_t;
typedef boost::shared_ptr <Grasp_t> GraspPtr_t;
- typedef std::map <DifferentiableFunctionPtr_t, GraspPtr_t> GraspsMap_t;
+ typedef std::map <NumericalConstraintPtr_t, GraspPtr_t> GraspsMap_t;
typedef std::vector<core::vector3_t> Shape_t;
typedef std::pair <JointPtr_t, Shape_t> JointAndShape_t;
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 5d5b89f9..d3e77af4 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -70,7 +70,7 @@ namespace hpp {
/// \}
/// Add grasp
- void addGrasp( const DifferentiableFunctionPtr_t& constraint,
+ void addGrasp (const NumericalConstraintPtr_t& constraint,
const model::GripperPtr_t& gripper,
const HandlePtr_t& handle)
{
@@ -88,7 +88,7 @@ namespace hpp {
/// get graps by name
///
/// return NULL if no grasp named graspName
- GraspPtr_t grasp(const DifferentiableFunctionPtr_t& constraint) const;
+ GraspPtr_t grasp(const NumericalConstraintPtr_t& constraint) const;
/// Create placement constraint
/// \param name name of the placement constraint,
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 89754e49..5356b2ce 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -123,8 +123,8 @@ namespace hpp {
return constraintGraph_;
}
- GraspPtr_t ProblemSolver::grasp (
- const DifferentiableFunctionPtr_t& constraint) const
+ GraspPtr_t ProblemSolver::grasp
+ (const NumericalConstraintPtr_t& constraint) const
{
GraspsMap_t::const_iterator it =
graspsMap_.find (constraint);
@@ -169,9 +169,10 @@ namespace hpp {
constraints.first->addFloor (ConvexShape (it->second, it->first));
}
- addNumericalConstraint (name, constraints.first);
- addNumericalConstraint (complementName, constraints.second);
- comparisonType (complementName, core::Equality::create ());
+ addNumericalConstraint (name, NumericalConstraint::create
+ (constraints.first));
+ addNumericalConstraint (complementName, NumericalConstraint::create
+ (constraints.second, core::Equality::create ()));
}
@@ -201,8 +202,7 @@ namespace hpp {
{
core::ProblemSolver::addFunctionToConfigProjector (constraintName,
functionName);
- DifferentiableFunctionPtr_t constraint =
- numericalConstraint (functionName);
+ NumericalConstraintPtr_t constraint (numericalConstraint (functionName));
if (GraspPtr_t g = grasp (constraint)) {
GripperPtr_t gripper = g->first;
HandlePtr_t handle = g->second;
--
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