[pr2eus_moveit/collision-object-publisher] support body class object

[knorth55]

What changed

• support body class object, which do not have :bodies method.

[k-okada]

do you really need :worldcoords?

(setq obj (make-cube 100 100 100))
(setq obj-2 (make-cube 100 100 100))
(send obj :assoc obj-2)
(send obj :locate #f(123 123 123))
(objects (list obj obj-2))
(print (send obj :worldpos))
(print (send obj :vertices))
(print (send obj-2 :worldpos))
(print (send obj-2 :vertices))
(if nil
    (progn
      (send obj :move-to (make-coords)) ;; ng                                   
      (send obj :worldcoords)
      )
  (progn
    (send obj :reset-coords) ;; ok                                              
    ))
(print "--")
(print (send obj :worldpos))
(print (send obj :vertices))
(print (send obj-2 :worldpos))
(print (send obj-2 :vertices))

[knorth55]

@k-okada this :worldcoords is for lazy-evaluation as euslisp/jskeus#384?

[k-okada]

yes, this is the same situation, but let is not related, if you show the object in irtviewer, and if you clock the window, irtviewer send :worldcoords to all objects.

…

-- ◉ Kei Okada 2016-12-06 14:38 GMT+09:00 Shingo Kitagawa <notifications@github.com>:

@k-okada <https://github.com/k-okada> this :worldcoords is for lazy-evaluation as euslisp/jskeus#384 <euslisp/jskeus#384>? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#269 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3PyooMjC4yi3kXZnG7hEfNMxXfBVks5rFPTEgaJpZM4LEYg0> .

[knorth55]

(send obj :worldpos) calls :world-coords, and if i remove it, the output is changed.

(setq obj (make-cube 100 100 100))
(setq obj-2 (make-cube 100 100 100))
(send obj :assoc obj-2)
(send obj :locate #f(123 123 123))
(objects (list obj obj-2))
(print (send obj :vertices))
(print (send obj-2 :vertices))
(if nil
    (progn
      (send obj :move-to (make-coords)) ;; ng                                   
      (send obj :worldcoords)
      )
  (progn
    (send obj :reset-coords) ;; ok                                              
    ))
(print "--")
(print (send obj :vertices))
(print (send obj-2 :vertices))

output:

(#f(173.0 173.0 73.0) #f(173.0 173.0 173.0) #f(173.0 73.0 73.0) #f(173.0 73.0 173.0) #f(73.0 173.0 73.0) #f(73.0 73.0 73.0) #f(73.0 73.0 173.0) #f(73.0 173.0 173.0))
(#f(173.0 173.0 73.0) #f(173.0 173.0 173.0) #f(173.0 73.0 73.0) #f(173.0 73.0 173.0) #f(73.0 173.0 73.0) #f(73.0 73.0 73.0) #f(73.0 73.0 173.0) #f(73.0 173.0 173.0))
"--"
(#f(173.0 173.0 73.0) #f(173.0 173.0 173.0) #f(173.0 73.0 73.0) #f(173.0 73.0 173.0) #f(73.0 173.0 73.0) #f(73.0 73.0 73.0) #f(73.0 73.0 173.0) #f(73.0 173.0 173.0))
(#f(173.0 173.0 73.0) #f(173.0 173.0 173.0) #f(173.0 73.0 73.0) #f(173.0 73.0 173.0) #f(73.0 173.0 73.0) #f(73.0 73.0 73.0) #f(73.0 73.0 173.0) #f(73.0 173.0 173.0))

[knorth55]

I tried code below, and my conclusion is :worldcoords is needed but (send-all (send obj :bodies) :worldcoords) is unnecessary.

(let (c2 c2 obj cds)
  (setq c1 (make-cube 100 100 100))
  (send c1 :set-color :red)
  (setq c2 (make-cylinder 30 100))
  (send c2 :set-color :green)
  (send c1 :assoc c2)
  (setq obj (instance bodyset :init (make-cascoords)
                      :bodies (list c1 c2)))
  (send obj :locate #f(123 123 123))
  (setq cds (send obj :copy-coords))
  (format t "(send obj :locate #f(123 123 123))~%")
  (print (send-all (send (body-to-faces obj) :faces) :vertices))
  (send obj :worldcoords)
  (format t "(send obj :worldcoords)~%")
  (print (send-all (send (body-to-faces obj) :faces) :vertices))
  (send obj :reset-coords)
  (format t "(send obj :reset-coords)~%")
  (print (send-all (send (body-to-faces obj) :faces) :vertices))
  (send obj :worldcoords)
  (format t "(send obj :worldcoords)~%")
  (print (send-all (send (body-to-faces obj) :faces) :vertices))
  (send obj :transform cds)
  (format t "(send obj :transform cds)~%")
  (print (send-all (send (body-to-faces obj) :faces) :vertices))
  (send obj :worldcoords)
  (format t "(send obj :worldcoords)~%")
  (print (send-all (send (body-to-faces obj) :faces) :vertices)))

[knorth55]

this line is added in ab092e1, and I'm not sure if this line is really necessary

[YoheiKakiuchi]

I forget why I added (send-all ...
If sample works well, it is not necessary