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.

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

[C++] Changed the signature of urdf::buildModel, that now takes the model as input. Previous signature is kept as deprecated.

This new method give the increment for finite difference applications.

Most of the joints have bugs inside their methods - integration,
differentiate, interpolate.
A small remind that the joint velocity vector is generally expressed in
the joint frame while the translations are expressed in the joint
parent frame.

It replaces the old shortname  method with is no more static

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