From b5b451a7f436322543e3966f39dd4baf2f26fea1 Mon Sep 17 00:00:00 2001
From: Akseppal <seppala@laas.fr>
Date: Mon, 25 Apr 2016 17:19:33 +0200
Subject: [PATCH] create affordance map object within bindShooter ().
Initialised only in createPathValidation --> is this a good idea?
---
src/rbprmbuilder.impl.hh | 16 ++++++++++------
1 file changed, 10 insertions(+), 6 deletions(-)
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index 3ed972f3..2123d20c 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -46,14 +46,11 @@ namespace hpp {
hpp::rbprm::RbPrmShooterPtr_t create (const hpp::model::DevicePtr_t& robot)
{
hpp::model::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::model::RbPrmDevice>(robot);
- std::map<std::string, std::vector<boost::shared_ptr<model::CollisionObject> > > affMap =
- problemSolver_->map
- <std::vector<boost::shared_ptr<model::CollisionObject> > > ();
- if (affMap.empty ()) {
+ if (affMap_.empty ()) {
throw hpp::Error ("No affordances found. Unable to create shooter object.");
}
rbprm::RbPrmShooterPtr_t shooter = hpp::rbprm::RbPrmShooter::create
- (robotcast, problemSolver_->problem ()->collisionObstacles(), affMap,
+ (robotcast, problemSolver_->problem ()->collisionObstacles(), affMap_,
romFilter_,affFilter_,shootLimit_,displacementLimit_);
if(!so3Bounds_.empty())
shooter->BoundSO3(so3Bounds_);
@@ -63,7 +60,13 @@ namespace hpp {
hpp::core::PathValidationPtr_t createPathValidation (const hpp::model::DevicePtr_t& robot, const hpp::model::value_type& val)
{
hpp::model::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::model::RbPrmDevice>(robot);
- hpp::rbprm::RbPrmValidationPtr_t validation(hpp::rbprm::RbPrmValidation::create(robotcast, romFilter_, affFilter_));
+ affMap_ = problemSolver_->map
+ <std::vector<boost::shared_ptr<model::CollisionObject> > > ();
+ if (affMap_.empty ()) {
+ throw hpp::Error ("No affordances found. Unable to create Path Validaton object.");
+ }
+ hpp::rbprm::RbPrmValidationPtr_t validation
+ (hpp::rbprm::RbPrmValidation::create(robotcast, romFilter_, affFilter_, affMap_));
hpp::core::DiscretizedCollisionCheckingPtr_t collisionChecking = hpp::core::DiscretizedCollisionChecking::create(robot,val);
collisionChecking->add (validation);
return collisionChecking;
@@ -75,6 +78,7 @@ namespace hpp {
std::size_t shootLimit_;
std::size_t displacementLimit_;
std::vector<double> so3Bounds_;
+ std::map<std::string, std::vector<boost::shared_ptr<model::CollisionObject> > > affMap_;
};
class RbprmBuilder : public virtual POA_hpp::corbaserver::rbprm::RbprmBuilder
--
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