From 366419605ffad23a411fc524f77aad8cc2c729e2 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Mon, 25 Jan 2016 15:52:44 +0100
Subject: [PATCH] add new planner to the server
---
src/hpp-rbprm-corba.cc | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/src/hpp-rbprm-corba.cc b/src/hpp-rbprm-corba.cc
index 8a2039ab..cb9efc7e 100755
--- a/src/hpp-rbprm-corba.cc
+++ b/src/hpp-rbprm-corba.cc
@@ -20,6 +20,7 @@
#include <hpp/corbaserver/rbprm/server.hh>
#include <hpp/core/problem-solver.hh>
#include <hpp/rbprm/planner/steering-dynamic.hh>
+#include <hpp/rbprm/planner/dynamic-planner.hh>
typedef hpp::rbprm::Server RbprmServer;
typedef hpp::corbaServer::Server CorbaServer;
@@ -29,6 +30,9 @@ int main (int argc, char* argv [])
hpp::core::ProblemSolverPtr_t problemSolver (hpp::core::ProblemSolver::create());
problemSolver->addSteeringMethodType("SteeringDynamic", boost::bind( static_cast<hpp::rbprm::SteeringDynamicPtr_t (*)(const hpp::core::ProblemPtr_t&)> (&hpp::rbprm::SteeringDynamic::create), _1 ));
+ problemSolver->addPathPlannerType("RRTdynamic",hpp::rbprm::DynamicPlanner::createWithRoadmap);
+
+
CorbaServer corbaServer (problemSolver, argc,
const_cast<const char**> (argv), true);
--
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