From 0eef8bf133ba96c4a00b3fe854db8345d382a7e5 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 8 Sep 2016 10:34:27 +0200
Subject: [PATCH] [C++] Geom: remove resetDistance and reset the distanceResult
in computeDistance.
---
src/algorithm/geometry.hxx | 7 ++++---
src/multibody/geometry.hpp | 5 -----
src/multibody/geometry.hxx | 4 ----
3 files changed, 4 insertions(+), 12 deletions(-)
diff --git a/src/algorithm/geometry.hxx b/src/algorithm/geometry.hxx
index 08fec67c8..298aa9454 100644
--- a/src/algorithm/geometry.hxx
+++ b/src/algorithm/geometry.hxx
@@ -64,12 +64,12 @@ namespace se3
{
assert( pairId < geomModel.collisionPairs.size() );
const CollisionPair & pair = geomModel.collisionPairs[pairId];
- fcl::CollisionResult& collisionResult = geomData.collisionResults[pairId];
- assert( pairId < geomData.distanceResults.size() );
+ assert( pairId < geomData.collisionResults.size() );
assert( pair.first < geomData.collisionObjects.size() );
assert( pair.second < geomData.collisionObjects.size() );
+ fcl::CollisionResult& collisionResult = geomData.collisionResults[pairId];
collisionResult.clear();
fcl::collide (&geomData.collisionObjects[pair.first],
&geomData.collisionObjects[pair.second],
@@ -127,7 +127,8 @@ namespace se3
assert( pairId < geomData.distanceResults.size() );
assert( pair.first < geomData.collisionObjects.size() );
assert( pair.second < geomData.collisionObjects.size() );
-
+
+ geomData.distanceResults[pairId].clear();
fcl::distance ( &geomData.collisionObjects[pair.first],
&geomData.collisionObjects[pair.second],
geomData.distanceRequest,
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index dfb37c2f4..239b4d229 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -258,11 +258,6 @@ namespace se3
/// \sa activateCollisionPair
void deactivateCollisionPair(const PairIndex pairId);
- /// Reset the vector distanceResults.
- /// TODO: should this be called automatically before calling computeDistance?
- /// TODO: should we implement the same for collisions?
- void resetDistances();
-
#endif //WITH_HPP_FCL
friend std::ostream & operator<<(std::ostream & os, const GeometryData & geomData);
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index 3fd502c43..619730cfa 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -238,10 +238,6 @@ namespace se3
activeCollisionPairs[pairId] = false;
}
- inline void GeometryData::resetDistances()
- {
- std::fill(distanceResults.begin(), distanceResults.end(), fcl::DistanceResult() );
- }
#endif //WITH_HPP_FCL
} // namespace se3
--
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