[C++] Change the way to find a CollisionPair

src/multibody/geometry.hpp

@@ -39,20 +39,6 @@
 
 namespace se3
 {
-  class IsSameCollisionPair
-  {
-  typedef Model::Index Index;
-  typedef std::pair < Index, Index > CollisionPair_t;
-  public:
-  IsSameCollisionPair( CollisionPair_t pair): _pair(pair) {}
-
-  bool operator()(CollisionPair_t pair) const
-  {
-    return (pair == _pair);
-  }
-  private:
-  CollisionPair_t _pair;
-  };
 
   // Result of distance computation between two CollisionObject.
   struct DistanceResult

src/multibody/geometry.hxx

@@ -157,9 +157,10 @@ namespace se3
 
   inline bool GeometryData::existCollisionPair (const CollisionPair_t & pair) const
   {
-    return (std::find_if (  collision_pairs.begin(), collision_pairs.end(),
-                            IsSameCollisionPair(pair)) != collision_pairs.end());
-
+    return (std::find(collision_pairs.begin(), collision_pairs.end(), pair)
+            != collision_pairs.end());
+  }
+  
   inline GeometryData::Index GeometryData::findCollisionPair (const Index co1, const Index co2) const
   {
     return findCollisionPair(CollisionPair_t(co1,co2));