Commit cdf5866e authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Update to changes in hpp-core regarding containers.

parent db51dece
......@@ -25,8 +25,7 @@ using hpp::wholebodyStep::SmallSteps;
int main (int argc, const char* argv[])
{
ProblemSolverPtr_t problemSolver = ProblemSolver::create ();
hpp::core::PathOptimizerBuilder_t optimizer (SmallSteps::create);
problemSolver->add ("Walkgen", optimizer);
problemSolver->pathOptimizers.add ("Walkgen", SmallSteps::create);
CorbaServer corbaServer (problemSolver, argc, argv, true);
WholebodyServer wbsServer (argc, argv, true);
wbsServer.setProblemSolverMap (corbaServer.problemSolverMap());
......
......@@ -163,9 +163,9 @@ namespace hpp {
comc = CenterOfMassComputation::create (robot);
comc->add (robot->rootJoint ());
} else {
comc = problemSolver()->centerOfMassComputation (comN);
if (!comc)
if (!problemSolver()->centerOfMassComputations.has(comN))
throw Error ("This CenterOfMassComputation does not exist");
comc = problemSolver()->centerOfMassComputations.get(comN);
}
NamedConstraints_t nc;
switch ( type ) {
......
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