Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add use_padding flag + deprecate checkCollisionUnpadded() functions #3088

Merged
merged 15 commits into from
Nov 18, 2024

Conversation

sjahr
Copy link
Contributor

@sjahr sjahr commented Nov 14, 2024

Description

I wanted to perform a padded self-collision check with a robot state and realized that this is not possible with the current API. So I decided to enable it + clean-up the checkCollision API of the planning scene a bit. This PR:

  • Adds use_padded_collision_environment & use_padded_self_collision flags to choose the environment to be used for collision checks
  • Clean up & update checkCollision(): Move all implementations into header make transform update more consistent
  • Deprecate checkCollisionUnpadded() since they become redundant with the new flags
  • Clean up & update checkSelfCollision(): Move all implementations into header make transform update more consistent

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

Copy link
Contributor

@sea-bass sea-bass left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looks good, just small comments. But my first one on variable naming is probably the more important.

Also, this change is probably worth adding to the corresponding CHANGELOG.rst

@sjahr sjahr requested a review from sea-bass November 15, 2024 11:08
@sea-bass
Copy link
Contributor

Can you also add to the CHANGELOG.rst?

@sjahr
Copy link
Contributor Author

sjahr commented Nov 15, 2024

Can you also add to the CHANGELOG.rst?

@sea-bass Sorry, missed that but now it's done ✔️

Copy link
Contributor

@marioprats marioprats left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Thanks Sebastian, nice cleanup!
Just a couple of questions.

moveit_core/planning_scene/src/planning_scene.cpp Outdated Show resolved Hide resolved
moveit_core/planning_scene/src/planning_scene.cpp Outdated Show resolved Hide resolved
@sjahr sjahr requested a review from marioprats November 15, 2024 14:51
@sea-bass
Copy link
Contributor

Sorry @sjahr -- I was putting together a Humble release and realized it's not CHANGELOG.rst that needs modification, as that is put together by catkin_generate_changelog.

Could you move that stuff to doc/MIGRATION_GUIDE.md?

Also changes LGTM, but will let @marioprats have the approval since he still had some open questions.

Copy link
Contributor

@marioprats marioprats left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Thanks Sebastian, just a nit to update the comment, since the PR changes the check to return early

@sjahr sjahr enabled auto-merge November 18, 2024 12:39
@sjahr sjahr disabled auto-merge November 18, 2024 12:39
@sjahr sjahr enabled auto-merge November 18, 2024 12:39
@sjahr sjahr added this pull request to the merge queue Nov 18, 2024
Merged via the queue into moveit:main with commit d529029 Nov 18, 2024
11 checks passed
@sjahr sjahr deleted the pr-update-collision-request branch November 18, 2024 15:01
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

3 participants