[C++] GeometryData stores fcl::CollisionResult (not se3::CollisionResult)

src/algorithm/geometry.hxx

@@ -62,8 +62,8 @@ namespace se3
     {
       if(data_geom.activeCollisionPairs[cpt])
         {
-          data_geom.computeCollision(geomModel.collisionPairs[cpt],data_geom.collision_results[cpt].fcl_collision_result);
-          isColliding |= data_geom.collision_results[cpt].fcl_collision_result.isCollision();
+          data_geom.computeCollision(geomModel.collisionPairs[cpt],data_geom.collision_results[cpt]);
+          isColliding |= data_geom.collision_results[cpt].isCollision();
           if(isColliding && stopAtFirstCollision)
             return true;
         }

src/multibody/geometry.hpp

@@ -234,7 +234,7 @@ namespace se3
     ///
     /// \brief Vector gathering the result of the collision computation for all the collision pairs.
     ///
-    std::vector <CollisionResult> collision_results;
+    std::vector <fcl::CollisionResult> collision_results;
 
     ///
     /// \brief Radius of the bodies, i.e. distance of the further point of the geometry model

src/multibody/geometry.hxx

@@ -225,7 +225,7 @@ namespace se3
     for(size_t i = 0; i<model_geom.collisionPairs.size(); ++i)
     {
       if(activeCollisionPairs[i])
-        computeCollision(model_geom.collisionPairs[i], collision_results[i].fcl_collision_result);
+        computeCollision(model_geom.collisionPairs[i], collision_results[i]);
     }
   }
   
@@ -234,7 +234,7 @@ namespace se3
     for(i = 0; i<model_geom.collisionPairs.size(); ++i)
     {
       if (activeCollisionPairs[i] 
-          && computeCollision(model_geom.collisionPairs[i], collision_results[i].fcl_collision_result))
+          && computeCollision(model_geom.collisionPairs[i], collision_results[i]))
         return true;
     }
     return false;