Fix CheckLinkSelfCollision and CheckEndEffectorCollision - #1443

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snozawa wants to merge 23 commits into

fixGrabbedSelfCollisionCheckInOtherAPIs

Commits on Jan 5, 2025

Separate _CheckGrabbedBodiesSelfCollision
Shunichi Nozawa
committed
573c72e
revive previous behavior on print message
Shunichi Nozawa
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1f471b5
Cleanup before using _CheckGrabbedBodiesSelfCollision. 1) remove unused variables. 2) remove unused kinbodysaver from the first overload function. 3) remove linksaver, since it will not be necessar…
Shunichi Nozawa
committed
6f1f1d9
Enable to specify pGrabbingLinkToCheck
Shunichi Nozawa
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a40f8bd
Use _CheckGrabbedBodiesSelfCollision for the first overload.
Shunichi Nozawa
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ef0f1df
Add updateGrabbedBodyTransformWithSaverFn for the second CheckLinkSelfCollsionCheck overload. In addition, keep the plink transform for grabbed bodies checking.
Shunichi Nozawa
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4f549fd
separate function to compute get independent links
Shunichi Nozawa
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bd4498e
Enable to check vector of inclusive links for endeffector self collision checking context. So far, we supply vindependentlinks. Although we can do that by both inclusive links and exclusive links, …
Shunichi Nozawa
committed
2b07e35
rename and improve comment
Shunichi Nozawa
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bc390de
correct the logic of included links
Shunichi Nozawa
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5847c70
Enable to pass included links for CheckLinkSelfCollision with specifying ilinkindex.
Shunichi Nozawa
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f55b48c
Remove unused _UpdateGrabbedBodyTransformWithSaver
Shunichi Nozawa
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fbd515b
separate functions to check collision check skipping
Shunichi Nozawa
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3850b85

Commits on Jan 6, 2025

Add more check. reorder arguments.
Shunichi Nozawa
committed
b9ca266
Merge remote-tracking branch 'origin/production' into fixGrabbedSelfCollisionCheckInOtherAPIs
Shunichi Nozawa
committed
d1bc2c4
Instead of function ptr, use ptr of transform
Shunichi Nozawa
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00de346
update comments and rename
Shunichi Nozawa
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d92a96e
reuse local var
Shunichi Nozawa
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fd3bab0
No need to check bIgnoreManipulatorLinks in the loop, since the contents of vector is already different according to bIgnoreManipulatorLinks
Shunichi Nozawa
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d3c252d
Reduce duplicated codes for CheckEndEffectorSelfCollision and CheckLinkSelfCollision
Shunichi Nozawa
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5255df6
Use common utility to skip collision pairs
Shunichi Nozawa
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342f1f4
Remove unused variable
Shunichi Nozawa
committed
68ee628

Commits on Jan 28, 2025

Merge remote-tracking branch 'origin/production' into fixGrabbedSelfCollisionCheckInOtherAPIs
Shunichi Nozawa
committed
79ea061