From d6836aed6c2cd62e5c6676670f54af3c85ad2e4c Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 2 Jun 2016 18:22:44 +0200
Subject: [PATCH] Cosmetic change in ManipulationPlanner
---
src/manipulation-planner.cc | 13 +++----------
1 file changed, 3 insertions(+), 10 deletions(-)
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 81243621..aa28d4ac 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -165,12 +165,7 @@ namespace hpp {
bool success;
ConfigurationPtr_t q_new (new Configuration_t
((*path) (t_final, success)));
- if (!belongs (q_new, newNodes)) {
- newNodes.push_back (roadmap ()->addNodeAndEdges
- (near, q_new, path));
- } else {
- delayedEdges.push_back (DelayedEdge_t (near, q_new, path));
- }
+ delayedEdges.push_back (DelayedEdge_t (near, q_new, path));
}
}
}
@@ -185,10 +180,8 @@ namespace hpp {
const core::PathPtr_t& validPath = itEdge-> get <2> ();
core::NodePtr_t newNode = roadmap ()->addNode (q_new);
roadmap ()->addEdge (near, newNode, validPath);
- core::interval_t timeRange = validPath->timeRange ();
- roadmap ()->addEdge (newNode, near, validPath->extract
- (core::interval_t (timeRange.second ,
- timeRange.first)));
+ roadmap ()->addEdge (newNode, near, validPath->reverse());
+ newNodes.push_back (newNode);
}
HPP_STOP_TIMECOUNTER(delayedEdges);
--
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