Nicolas Mansard authored 8 years ago and Nicolas Mansard committed 8 years ago

[c++] Geom: modified multibody/geometry.hpp so that _ are removed from var names + unified the way geometry model and data are named (resp geomModel and geomData) through all the code.
Issue 281.5.

Nicolas Mansard authored 8 years ago and Nicolas Mansard committed 8 years ago

Issue 281.7.

Nicolas Mansard authored 8 years ago and Nicolas Mansard committed 8 years ago

[C++] Geom: major change in the API. Moved compute collision|distance from methods of GeomData to algorithms in geometry.hpp.
Issue 281.9.

Nicolas Mansard authored 8 years ago and Nicolas Mansard committed 8 years ago

Issue 281.2.

[C++][Python] One can contruct a GeometryModel and Data even if hpp-fcl is not found. All stuff related to collisions is not available but geometryPlacements are ( for visualisation in the viewer especially).

Nicolas Mansard authored 8 years ago and Nicolas Mansard committed 8 years ago

[C++] Moved collisionPairs from GeomData to GeomModel and add a mask activeCollisionPairs in GeomData. Propagate the changes in the algorithms, parsers and pybindings.

[C++] The cloud of points in GeometryObject is now a fcl::CollisionGeometry instead of fcl::CollisionObject

Conflicts:

	unittest/geom.cpp

Conflicts:

	unittest/geom.cpp

[C++][Python] Removed references to kinematic model/data in geometry model/data. + fixed unallocated memory map ( due to using reserve keyword instead of resize)

[C++] Removed type from GeometryObject. Still using the enum GeometryType to specify if visuals or collisions must be parsed from urdf file

[C++] bodies are now a subpart of the Frames : some Frames are of type BODY and when referring to getBodyId/Name in Model it will look in its frames

[C++] Make distinction between joint and body in Model API ( addJoint, appendBodyToJoint, addJointAndBody instead of addBody)

[C++][Python][Major] Replaced the way collisions and visuals are stored in GeometryModel. Now it is two lists of GeometryObject (one for collisions, one for visuals) aggregating information instead of multiple vectors. Now handle multiple collisions/visuals for one link when parsing urdf file and keep track of the mesh absolute path. Changed binding accordingly.

[C++][Geom parser] Removed boolean root_joint_added while parsing. Geom parser modified consequently to look for parent of link in pinocchio model  now instead of urdf::tree parent joint.

[C++][Python][Parser Geom] Parse automatically the ROS_PACKAGE_PATH environment variable if not clue is given by the user to where to search for meshes. Change the meshRootDir argument to a vector of strings (package directories). Updated Python consequently

This reference is mandatory, just because a GeometryModel is linked to
a kinematic Model

[C++][Geom] GeometryData::collision_results is now a vector or CollisionResult ( struct holding infos about contacts)