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Humanoid Path Planner
hpp-pinocchio
Commits
77296185
Commit
77296185
authored
May 28, 2019
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
May 28, 2019
Browse files
Revert "Change default bounding volume to BV_OBB rather than BV_OBBRSS"
This reverts commit
91bc9b38
.
parent
2537f74a
Pipeline
#5467
passed with stage
in 10 minutes and 8 seconds
Changes
2
Pipelines
5
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NEWS
View file @
77296185
-*- outline -*-
New in v4.6.1
* Revert default bounding volume to BV_OBBRSS instead of BV_OBB.
- distance computations between BV_OBBRSS is not available.
New in v4.6,
* Fix API of loadModel (use base frame rather than base joint).
* Change default bounding volume to BV_OBB rather than BV_OBBRSS.
...
...
src/urdf/util.cc
View file @
77296185
...
...
@@ -216,7 +216,7 @@ namespace hpp {
GeomModel
geomModel
;
std
::
vector
<
std
::
string
>
baseDirs
=
::
pinocchio
::
rosPaths
();
static
fcl
::
MeshLoaderPtr
loader
(
new
fcl
::
CachedMeshLoader
(
fcl
::
BV_OBB
));
static
fcl
::
MeshLoaderPtr
loader
(
new
fcl
::
CachedMeshLoader
(
fcl
::
BV_OBB
RSS
));
::
pinocchio
::
urdf
::
buildGeom
(
*
model
,
urdfStream
,
::
pinocchio
::
COLLISION
,
geomModel
,
baseDirs
,
loader
);
geomModel
.
addAllCollisionPairs
();
...
...
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