Verified Commit 012d2b69 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

geometry: fix naming

parent 9c38b775
......@@ -163,7 +163,7 @@ namespace pinocchio
if (!existCollisionPair(pair)) { collisionPairs.push_back(pair); }
}
inline void GeometryModel::addCollisionPairs(const MatrixXb & map,
inline void GeometryModel::setCollisionPairs(const MatrixXb & map,
const bool upper)
{
PINOCCHIO_CHECK_ARGUMENT_SIZE(map.rows(),(Eigen::DenseIndex)ngeoms,
......
......@@ -185,8 +185,8 @@ BOOST_AUTO_TEST_CASE(manage_collision_pairs)
GeometryModel geom_model_copy, geom_model_copy_lower;
pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model_copy, package_dirs);
pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model_copy_lower, package_dirs);
geom_model_copy.addCollisionPairs(collision_map);
geom_model_copy_lower.addCollisionPairs(collision_map_lower,false);
geom_model_copy.setCollisionPairs(collision_map);
geom_model_copy_lower.setCollisionPairs(collision_map_lower,false);
BOOST_CHECK(geom_model_copy.collisionPairs.size() == geom_model.collisionPairs.size());
BOOST_CHECK(geom_model_copy_lower.collisionPairs.size() == geom_model.collisionPairs.size());
......
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