fixup! Adapt to API changes in srdfdom

ubi-agni · Nov 8, 2021 · 60b8d19 · 60b8d19
1 parent e57d7d5
commit 60b8d19
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Showing 5 changed files with 5 additions and 4 deletions.
diff --git a/...core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h b/...core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h
@@ -85,7 +85,7 @@ class CollisionDetectorPandaTest : public testing::Test
       acm_->setDefaultEntry(name, collision_detection::AllowedCollision::NEVER);
     // allow collisions for pairs that have been disabled
     for (auto const& collision : robot_model_->getSRDF()->getCollisionPairs())
-      acm_->setEntry(collision.link1_, collision.link2_, collision.disabled);
+      acm_->setEntry(collision.link1_, collision.link2_, collision.disabled_);
 
     cenv_ = value_->allocateEnv(robot_model_);
 

diff --git a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
@@ -83,7 +83,7 @@ class BulletCollisionDetectionTester : public testing::Test
       acm_->setDefaultEntry(name, collision_detection::AllowedCollision::NEVER);
     // allow collisions for pairs that have been disabled
     for (auto const& collision : robot_model_->getSRDF()->getCollisionPairs())
-      acm_->setEntry(collision.link1_, collision.link2_, collision.disabled);
+      acm_->setEntry(collision.link1_, collision.link2_, collision.disabled_);
 
     cenv_ = std::make_shared<collision_detection::CollisionEnvBullet>(robot_model_);
 

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -158,7 +158,7 @@ void PlanningScene::initialize()
     acm_->setDefaultEntry(name, collision_detection::AllowedCollision::ALWAYS);
   // allow collisions for pairs that have been disabled
   for (auto const& collision : getRobotModel()->getSRDF()->getCollisionPairs())
-    acm_->setEntry(collision.link1_, collision.link2_, collision.disabled);
+    acm_->setEntry(collision.link1_, collision.link2_, collision.disabled_);
 
   setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create());
 }

diff --git a/moveit_setup_assistant/src/tools/moveit_config_data.cpp b/moveit_setup_assistant/src/tools/moveit_config_data.cpp
@@ -146,7 +146,7 @@ void MoveItConfigData::loadAllowedCollisionMatrix()
   // Update the allowed collision matrix, in case there has been a change
   for (const auto& collision : srdf_->collision_pairs_)
   {
-    allowed_collision_matrix_.setEntry(collision.link1_, collision.link2_, collision.disabled);
+    allowed_collision_matrix_.setEntry(collision.link1_, collision.link2_, collision.disabled_);
   }
 }
 

diff --git a/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp b/moveit_setup_assistant/src/widgets/default_collisions_widget.cpp
@@ -691,6 +691,7 @@ void DefaultCollisionsWidget::linkPairsToSRDF()
       dc.link1_ = pair_it->first.first;
       dc.link2_ = pair_it->first.second;
       dc.reason_ = moveit_setup_assistant::disabledReasonToString(pair_it->second.reason);
+      dc.disabled_ = pair_it->second.disable_check;
       config_data_->srdf_->collision_pairs_.push_back(dc);
     }
   }