From eb929ac3f9c11287bfde434026568f1b5cd41acb Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 1 Oct 2015 18:39:26 +0200
Subject: [PATCH] Make use of PartialShortcut from hpp-core
---
src/problem-solver.cc | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 78951c60..977b7137 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -24,6 +24,7 @@
#include <hpp/core/random-shortcut.hh>
#include <hpp/core/discretized-collision-checking.hh>
+#include <hpp/core/path-optimization/partial-shortcut.hh>
#include "hpp/manipulation/device.hh"
#include "hpp/manipulation/handle.hh"
@@ -38,6 +39,13 @@
namespace hpp {
namespace manipulation {
+ namespace {
+ struct PartialShortcutTrait :
+ core::pathOptimization::PartialShortcutTrait {
+ static bool removeLockedJoints () { return false; }
+ };
+ }
+
std::ostream& operator<< (std::ostream& os, const Device& robot)
{
return robot.print (os);
@@ -51,6 +59,10 @@ namespace hpp {
GraphPathValidation::create <core::DiscretizedCollisionChecking>);
addPathOptimizerType ("Graph-RandomShortcut",
GraphOptimizer::create <core::RandomShortcut>);
+ addPathOptimizerType ("PartialShortcut", core::pathOptimization::
+ PartialShortcut::createWithTrait <PartialShortcutTrait>);
+ addPathOptimizerType ("Graph-PartialShortcut",
+ GraphOptimizer::create <core::pathOptimization::PartialShortcut>);
pathPlannerType ("M-RRT");
pathValidationType ("Graph-discretized", 0.05);
}
--
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