[test transition] update API to use the continuous formulation

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -772,7 +772,7 @@ module hpp
 
     boolean isReachableFromState(in unsigned short stateFrom, in unsigned short stateTo)raises (Error);
 
-    floatSeq isDynamicallyReachableFromState(in unsigned short stateFrom, in unsigned short stateTo,in boolean addPathPerPhase, in floatSeq timings,in unsigned short numPointsPerPhase)raises (Error);
+    floatSeq isDynamicallyReachableFromState(in unsigned short stateFrom, in unsigned short stateTo,in boolean addPathPerPhase, in floatSeq timings,in short numPointsPerPhase)raises (Error);
 
 
   }; // interface Robot

src/hpp/corbaserver/rbprm/rbprmfullbody.py

@@ -1158,6 +1158,6 @@ class FullBody (object):
      def isReachableFromState(self,stateFrom,stateTo):
           return self.client.rbprm.rbprm.isReachableFromState(stateFrom,stateTo)
 
-     def isDynamicallyReachableFromState(self,stateFrom,stateTo,addPathPerPhase = False,timings=[],numPointsPerPhases=3):
+     def isDynamicallyReachableFromState(self,stateFrom,stateTo,addPathPerPhase = False,timings=[],numPointsPerPhases=5):
           return self.client.rbprm.rbprm.isDynamicallyReachableFromState(stateFrom,stateTo,addPathPerPhase,timings,numPointsPerPhases)
 

src/rbprmbuilder.impl.cc

@@ -3363,7 +3363,7 @@ assert(s2 == s1 +1);
 
 
 
-    hpp::floatSeq* RbprmBuilder::isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo,bool addPathPerPhase, const hpp::floatSeq &timings, unsigned short numPointPerPhase )throw (hpp::Error){
+    hpp::floatSeq* RbprmBuilder::isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo,bool addPathPerPhase, const hpp::floatSeq &timings, short numPointPerPhase )throw (hpp::Error){
         if(!fullBodyLoaded_){
           throw std::runtime_error ("fullBody not loaded");
         }
@@ -3379,7 +3379,7 @@ assert(s2 == s1 +1);
                 Ts.push_back(t_config[i]);
             res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,Ts,numPointPerPhase);
         }else{
-            res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false);
+            res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,std::vector<double>(),numPointPerPhase);
         }
         if (res.success()){
             std::vector<int> ids;

src/rbprmbuilder.impl.hh

@@ -367,7 +367,7 @@ namespace hpp {
         virtual bool areKinematicsConstraintsVerified(const hpp::floatSeq &point)throw (hpp::Error);
         virtual bool areKinematicsConstraintsVerifiedForState(unsigned short stateId,const hpp::floatSeq &point)throw (hpp::Error);
         virtual bool isReachableFromState(unsigned short stateFrom,unsigned short stateTo)throw (hpp::Error);
-        virtual hpp::floatSeq* isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo, bool addPathPerPhase, const hpp::floatSeq &timings, unsigned short numPointPerPhase )throw (hpp::Error);
+        virtual hpp::floatSeq* isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo, bool addPathPerPhase, const hpp::floatSeq &timings, short numPointPerPhase )throw (hpp::Error);
 
 
         void selectFullBody (const char* name) throw (hpp::Error)