| 177 | } |
| 178 | |
| 179 | optional<JointEdge> IndexGraph::GetJointEdgeByLastPoint(Segment const & parent, Segment const & firstChild, |
| 180 | bool isOutgoing, uint32_t lastPoint) const |
| 181 | { |
| 182 | SegmentListT const possibleChildren = {firstChild}; |
| 183 | PointIdListT const lastPoints = {lastPoint}; |
| 184 | |
| 185 | JointEdgeListT edges; |
| 186 | WeightListT parentWeights; |
| 187 | Parents<JointSegment> emptyParents; |
| 188 | ReconstructJointSegment(astar::VertexData<JointSegment, RouteWeight>::Zero(), parent, possibleChildren, lastPoints, |
| 189 | isOutgoing, edges, parentWeights, emptyParents); |
| 190 | |
| 191 | CHECK_LESS_OR_EQUAL(edges.size(), 1, ()); |
| 192 | if (edges.size() == 1) |
| 193 | return {edges.back()}; |
| 194 | |
| 195 | return {}; |
| 196 | } |
| 197 | |
| 198 | void IndexGraph::Build(uint32_t numJoints) |
| 199 | { |
no test coverage detected