Fix CollisionGroup bugs in Hand executors. #299
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BarrettHandKinematicSimulationPositionCommandExecutor::setCollideWith didn't set the CollisionGroup for the underlying position or spread executors. BarrettFingerKinematicSimulationPositionCommandExecutor::setCollideWith and BarrettFingerKinematicSimulationSpreadCommandExecutor::setCollideWith could result in a mismatch if the new CollisionGroup came from a different CollisionDetector.
Codecov Report
@@ Coverage Diff @@
## master #299 +/- ##
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+ Coverage 79.42% 81.17% +1.75%
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Files 202 202
Lines 5841 5865 +24
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+ Hits 4639 4761 +122
+ Misses 1202 1104 -98
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Resolves #176.
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I re-enabled the I'm not sure if this is another instance of https://github.com/personalrobotics/libherb/issues/43, but we should look into this soon. If these tests passed before #166, maybe we can isolate the cause by looking in there. |
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Bugs fixed, thanks @gilwoolee! I mis-remembered what the preshapes should actually look like, so this resolves https://github.com/personalrobotics/libherb/issues/43 as well. |
gilwoolee
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Jan 13, 2018
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Jan 21, 2019
* Fix CollisionGroup bugs in Hand executors. BarrettHandKinematicSimulationPositionCommandExecutor::setCollideWith didn't set the CollisionGroup for the underlying position or spread executors. BarrettFingerKinematicSimulationPositionCommandExecutor::setCollideWith and BarrettFingerKinematicSimulationSpreadCommandExecutor::setCollideWith could result in a mismatch if the new CollisionGroup came from a different CollisionDetector. * Re-enable BarrettHand tests. Resolves #176. * Add ball to collision checks. * Fix typo. * Bugfix for BarrettHandSimulator. Distal stops when proximal reaches its goal and not in collision. * Delete dead code and reformat BarrettHand tests. * Add tests for setCollideWith.
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BarrettHandKinematicSimulationPositionCommandExecutor::setCollideWithdidn't callsetCollideWithon the underlying position or spread executors. In addition, callingBarrettFingerKinematicSimulationPositionCommandExecutor::setCollideWithandBarrettFingerKinematicSimulationSpreadCommandExecutor::setCollideWithcould result in a mismatch if the newCollisionGroupcame from a differentCollisionDetector.This PR fixes the first issue and adds a
setFingerCollisionGroupmethod to both finger executors, which updates the appropriate finger collision groups (if necessary).I think this resolves #271. (I didn't see the
setCollideWithmethods when I created the issue earlier.)Before creating a pull request
make formatBefore merging a pull request
CHANGELOG.md