Skip to content

Fix constraint graph problem getter #106

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
florent-lamiraux merged 2 commits into from
Feb 11, 2026
Merged

Fix constraint graph problem getter #106

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
cee5f7b
Fix constraint graph problem getter
psardin001 Feb 11, 2026
7679e42
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Feb 11, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 2 additions & 5 deletions src/pyhpp/manipulation/problem.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,13 +55,10 @@ Problem::Problem(const hpp::manipulation::ProblemPtr_t& object)

void Problem::constraintGraph(const PyWGraphPtr_t& graph) {
asManipulationProblem()->constraintGraph(graph->obj);
graph_ = graph;
}

PyWGraphPtr_t Problem::constraintGraph() const {
pyhpp::manipulation::PyWGraph* graph =
new PyWGraph(asManipulationProblem()->constraintGraph());
return std::shared_ptr<PyWGraph>(graph);
}
PyWGraphPtr_t Problem::constraintGraph() const { return graph_; }

void Problem::checkProblem() const { asManipulationProblem()->checkProblem(); }

Expand Down
1 change: 1 addition & 0 deletions src/pyhpp/manipulation/problem.hh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ namespace manipulation {
// Wrapper class for hpp::manipulation::Problem
struct Problem : public pyhpp::core::Problem {
hpp::core::Container<JointAndShapes_t> jointAndShapes;
PyWGraphPtr_t graph_;

Problem(const PyWDevicePtr_t& robot);
Problem(const hpp::manipulation::ProblemPtr_t& object);
Expand Down