RobotUnit: self collision checker uses now the collision checker of the robot...

RobotUnit: self collision checker uses now the collision checker of the robot model instead of the global instance
refactored floor string to use a constant

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp

@@ -28,6 +28,8 @@
 
 #include "../NJointControllers/NJointController.h"
 
+#define FLOOR_OBJ_STR "FLOOR"
+
 namespace armarx
 {
     namespace RobotUnitModule
@@ -92,7 +94,7 @@ namespace armarx
                                 setsOfNode.emplace(std::set<std::string> {subentry});
                                 ARMARX_DEBUG << "-------- node: " << subentry;
                             }
-                            else if (subentry == "FLOOR")
+                            else if (subentry == FLOOR_OBJ_STR)
                             {
                                 //the entry is the floor
                                 setsOfNode.emplace(std::set<std::string> {subentry});
@@ -175,11 +177,13 @@ namespace armarx
             nodePairsToCheck.clear();
             //set floor
             {
-                floor.reset(new VirtualRobot::SceneObjectSet("FLOORSET"));
-                static constexpr float floorSize = 1e16;
-                VirtualRobot::ObstaclePtr boxOb = VirtualRobot::Obstacle::createBox(floorSize, floorSize, std::min(0.001f, minSelfDistance / 2));
+                floor.reset(new VirtualRobot::SceneObjectSet("FLOORSET", selfCollisionAvoidanceRobot->getCollisionChecker()));
+                static constexpr float floorSize = 1e16f;
+                VirtualRobot::ObstaclePtr boxOb = VirtualRobot::Obstacle::createBox(floorSize, floorSize, std::min(0.001f, minSelfDistance / 2),
+                                                  VirtualRobot::VisualizationFactory::Color::Red(), "",
+                                                  selfCollisionAvoidanceRobot->getCollisionChecker());
                 boxOb->setGlobalPose(Eigen::Matrix4f::Identity());
-                boxOb->setName("FLOOR");
+                boxOb->setName(FLOOR_OBJ_STR);
                 floor->addSceneObject(boxOb);
             }
             //inflate robot
@@ -194,12 +198,12 @@ namespace armarx
             for (const auto& pair : namePairsToCheck)
             {
                 VirtualRobot::SceneObjectPtr first  =
-                    (pair.first  == "FLOOR") ?
+                    (pair.first  == FLOOR_OBJ_STR) ?
                     floor->getSceneObject(0) :
                     selfCollisionAvoidanceRobot->getRobotNode(pair.first);
 
                 VirtualRobot::SceneObjectPtr second =
-                    (pair.second == "FLOOR") ?
+                    (pair.second == FLOOR_OBJ_STR) ?
                     floor->getSceneObject(0) :
                     selfCollisionAvoidanceRobot->getRobotNode(pair.second);