Commit 84f2daaa authored by stevet's avatar stevet
Browse files

affordance objects fix

parent 4300a93e
......@@ -194,6 +194,9 @@ class Builder (object):
# \return name of the link.
def getLinkName (self, jointName):
return self.client.basic.robot.getLinkName (jointName)
def getLinkNames (self, jointName):
return self.client.basic.robot.getLinkNames (jointName)
## \}
## \name Access to current configuration
......
......@@ -55,6 +55,7 @@ namespace hpp {
hpp::rbprm::RbPrmShooterPtr_t create (/*const hpp::pinocchio::DevicePtr_t& robot,*/ const hpp::core::Problem& problem)
{
affMap_ = problemSolver_->affordanceObjects;
hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(problem.robot());
if (affMap_.map.empty ()) {
throw hpp::Error ("No affordances found. Unable to create shooter object.");
......
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