[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)

Choose an explicit name to describe what the algorithm effectively does

[bench][unittest] Reworked the comparison test between pinocchio and hpp : more tests for benchmarks along with functional tests ; removing magic paths to urdf models + modification of romeo urdf model. Also added a specific BUILD_TESTS_WITH_HPP cmake variable. If you want to run tests that execute hpp robot loading, be sure to have the package romeo_pinocchio installed (it is just a package done done by hand for the moment)

[C++] computeDistances and computeCollisions moved out of GeometryData. Added a vector of boolean handling the state of whether or not the pairs are in collision in GeometryData

[C++][algo] algorithm updateCollisionGeometry now optionally executes algorithm geometry to compute positions before updating collision objects's positions

[C++][unittest] Added unittest geom.cpp . It tests that we obtain the same results between Pinocchio and hpp-model-urdf for joints and geometry objects positions ; for collisions and distances between two geometry objects