From fad18f9c22c1106dd41c2c60f9508e533738dc49 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 24 Aug 2015 17:02:17 +0200
Subject: [PATCH] Add ProblemSolver::create
---
include/hpp/manipulation/problem-solver.hh | 2 ++
src/problem-solver.cc | 5 +++++
2 files changed, 7 insertions(+)
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index b7ac344c..45edd538 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -45,6 +45,8 @@ namespace hpp {
{
}
+ static ProblemSolverPtr_t create ();
+
/// Set robot
/// Check that robot is of type hpp::manipulation::Device
virtual void robot (const DevicePtr_t& robot)
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index bb85b1c3..b15aedd0 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -38,6 +38,11 @@ namespace hpp {
return robot.print (os);
}
+ ProblemSolverPtr_t ProblemSolver::create ()
+ {
+ return ProblemSolverPtr_t (new ProblemSolver ());
+ }
+
void ProblemSolver::resetProblem ()
{
if (problem_)
--
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