One link multiple geom #77
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Adjacent link collisions should be ignored in SRDF
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* Set FCLObject.pose to Identity when constructing with only object name * Update FCLObject.shapes transform during construction
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KolinGuo
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Apr 8, 2024
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Merging this. @Lexseal Don't forget to check my work |
Lexseal
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Apr 8, 2024
| * @param name: name of the collision object | ||
| * @param collision_object: collision object to be added | ||
| */ | ||
| // TODO(merge): remove name |
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What is this todo for?
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FCLObject already contains name. No need to require an extra argument to addNormalObject.
For the overloaded addNormalObject taking a CollisionObjectPtr as input, the name is still required.
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Made a wrapper called FCLObject. Did check out Moveit's implementation, but their stuff is broadphase only. This API should be pretty intuitive too. Probably will add documentation as needed but please check it out for suggestions.