From 2c917f628a21aa76e4060390611a9fb742512bbf Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Fri, 29 Apr 2016 16:47:59 +0200
Subject: [PATCH] working version of limb rrt
---
src/rbprmbuilder.impl.cc | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index c7669ac8..5f2a7184 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -653,8 +653,9 @@ std::cout << romDevice->currentConfiguration() << std::endl;
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s1) + ", " + std::string(""+s2));
}
//create helper
- interpolation::LimbRRTHelper helper(fullBody_, problemSolver_->problem());
- core::PathVectorPtr_t path = interpolation::interpolateStates(helper,lastStatesComputed_[s1],lastStatesComputed_[s2]);
+// /interpolation::LimbRRTHelper helper(fullBody_, problemSolver_->problem());
+ core::PathVectorPtr_t path = interpolation::interpolateStates(fullBody_,problemSolver_->problem(),
+ lastStatesComputed_.begin()+s1,lastStatesComputed_.begin()+s2);
problemSolver_->addPath(path);
problemSolver_->robot()->setDimensionExtraConfigSpace(problemSolver_->robot()->extraConfigSpace().dimension()+1);
}
--
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