From 78acccadb8c9955399590accd4697593c4f91258 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Thu, 3 Mar 2016 15:26:17 +0100
Subject: [PATCH] add rbprm-validation in problemSolver so it use it when we
call robot.isConfigValid() from python
---
src/rbprmbuilder.impl.hh | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index f2f52edd..79d026a6 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -31,9 +31,8 @@
# include <hpp/core/discretized-collision-checking.hh>
# include <hpp/core/straight-path.hh>
# include <hpp/rbprm/rbprm-path-validation.hh>
-
-#include <hpp/fcl/BVH/BVH_model.h>
-
+# include <hpp/fcl/BVH/BVH_model.h>
+# include <hpp/core/config-validations.hh>
namespace hpp {
namespace rbprm {
namespace impl {
@@ -73,6 +72,8 @@ namespace hpp {
(hpp::rbprm::RbPrmValidation::create(robotcast, romFilter_, affFilter_, affMap_));
hpp::rbprm::RbPrmPathValidationPtr_t collisionChecking = hpp::rbprm::RbPrmPathValidation::create(robot,val);
collisionChecking->add (validation);
+ problemSolver_->problem()->configValidation(core::ConfigValidations::create ());
+ problemSolver_->problem()->configValidations()->add(validation);
return collisionChecking;
}
--
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