From 721ad98b883cd4fe8e3d6bd2802a189d4b0b2a59 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 27 Mar 2019 17:58:07 +0100
Subject: [PATCH] ACDManager::addCollisionModel(const
std::vector<RobotNodePtr>& nodes, const std::string& setName)dd
---
VirtualRobot/CollisionDetection/CDManager.cpp | 15 +++++++++++++++
VirtualRobot/CollisionDetection/CDManager.h | 1 +
2 files changed, 16 insertions(+)
diff --git a/VirtualRobot/CollisionDetection/CDManager.cpp b/VirtualRobot/CollisionDetection/CDManager.cpp
index b56eadd40..c05f4faad 100644
--- a/VirtualRobot/CollisionDetection/CDManager.cpp
+++ b/VirtualRobot/CollisionDetection/CDManager.cpp
@@ -62,6 +62,21 @@ namespace VirtualRobot
}
}
+ void CDManager::addCollisionModel(const std::vector<RobotNodePtr>& nodes, const std::string& setName)
+ {
+ VirtualRobot::SceneObjectSetPtr cms(
+ new VirtualRobot::SceneObjectSet(
+ setName.empty() ? "set_" + std::to_string(colModels.size()) : setName,
+ getCollisionChecker()
+ )
+ );
+ for (const auto& robotNode : nodes)
+ {
+ cms->addSceneObject(robotNode);
+ }
+ addCollisionModel(cms);
+ }
+
bool CDManager::isInCollision(SceneObjectSetPtr m)
{
if (!m || !colChecker)
diff --git a/VirtualRobot/CollisionDetection/CDManager.h b/VirtualRobot/CollisionDetection/CDManager.h
index 749c0a974..d3a5ddb01 100644
--- a/VirtualRobot/CollisionDetection/CDManager.h
+++ b/VirtualRobot/CollisionDetection/CDManager.h
@@ -86,6 +86,7 @@ namespace VirtualRobot
Here single collision models can be added. Internally they are wrapped by a SceneObjectSet.
*/
void addCollisionModel(SceneObjectPtr m);
+ void addCollisionModel(const std::vector<RobotNodePtr>& nodes, const std::string& setName = "");
bool hasSceneObjectSet(SceneObjectSetPtr m);
--
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