Commit 709f132c authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[com-rrt] changes needed to access the real pathVector in python (and not hide...

[com-rrt] changes needed to access the real pathVector in python (and not hide it inside another Path object)
parent 4da93bb2
...@@ -2552,20 +2552,21 @@ namespace hpp { ...@@ -2552,20 +2552,21 @@ namespace hpp {
State s2 = lastStatesComputed_[size_t(state2)]; State s2 = lastStatesComputed_[size_t(state2)];
hppDout(notice,"state1 = r(["<<pinocchio::displayConfig(s1.configuration_)<<")]"); hppDout(notice,"state1 = r(["<<pinocchio::displayConfig(s1.configuration_)<<")]");
hppDout(notice,"state2 = r(["<<pinocchio::displayConfig(s2.configuration_)<<")]"); hppDout(notice,"state2 = r(["<<pinocchio::displayConfig(s2.configuration_)<<")]");
core::PathVectorPtr_t resPath = core::PathVector::create(fullBody()->device_->configSize(), fullBody()->device_->numberDof()); //core::PathVectorPtr_t resPath = core::PathVector::create(fullBody()->device_->configSize(), fullBody()->device_->numberDof());
std::vector<CORBA::Short> pathsIds; std::vector<CORBA::Short> pathsIds;
core::PathPtr_t p1 = (*functor)(fullBody(),problemSolver(), paths[comTraj], core::PathPtr_t p1 = (*functor)(fullBody(),problemSolver(), paths[comTraj],
s1,s2, numOptimizations,true); s1,s2, numOptimizations,false);
hppDout(notice,"effectorRRT done."); hppDout(notice,"effectorRRT done.");
// reduce path to remove extradof // reduce path to remove extradof
core::segment_t interval(0, p1->initial().rows()-1); /*core::segment_t interval(0, p1->initial().rows()-1);
core::segments_t intervals; core::segments_t intervals;
intervals.push_back(interval); intervals.push_back(interval);
core::segments_t velIntervals (1, core::segment_t (0, fullBody()->device_->numberDof())); core::segments_t velIntervals (1, core::segment_t (0, fullBody()->device_->numberDof()));
PathPtr_t reducedPath = core::SubchainPath::create(p1,intervals, velIntervals); PathPtr_t reducedPath = core::SubchainPath::create(p1,intervals, velIntervals);
resPath->appendPath(reducedPath); resPath->appendPath(reducedPath);
pathsIds.push_back((CORBA::Short)problemSolver()->addPath(resPath)); */
pathsIds.push_back((CORBA::Short)AddPath(p1,problemSolver()));
hpp::floatSeq* dofArray = new hpp::floatSeq(); hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length((_CORBA_ULong)pathsIds.size()); dofArray->length((_CORBA_ULong)pathsIds.size());
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment