[TransitionPlanner] Add a setter of edge with pointer.

Author: florent-lamiraux

include/hpp/manipulation/path-planner/transition-planner.hh

@@ -131,6 +131,10 @@ class HPP_MANIPULATION_DLLAPI TransitionPlanner : public core::PathPlanner {
   /// \param id index of the edge in the constraint graph
   void setEdge(std::size_t id);
 
+  /// Set transition along which we wish to plan a path
+  /// \param transition shared pointer to the transition
+  void setEdge(const graph::EdgePtr_t& transition);
+
   /// Create a Reeds and Shepp steering method and path it to the problem.
   void setReedsAndSheppSteeringMethod(double turningRadius);
 

src/path-planner/transition-planner.cc

@@ -186,6 +186,10 @@ core::PathVectorPtr_t TransitionPlanner::timeParameterization(
 
 void TransitionPlanner::setEdge(std::size_t id) {
   graph::EdgePtr_t edge(getEdgeOrThrow(id));
+  setEdge(edge);
+}
+
+void TransitionPlanner::setEdge(const graph::EdgePtr_t& edge) {
   innerProblem_->constraints(edge->pathConstraint());
   innerProblem_->pathValidation(edge->pathValidation());
   innerProblem_->steeringMethod(edge->steeringMethod());