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Fix typo in bullet function name #2472

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merged 1 commit into from
Oct 24, 2023
Merged

Fix typo in bullet function name #2472

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4 changes: 2 additions & 2 deletions ...llision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
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Original file line number Diff line number Diff line change
Expand Up @@ -96,8 +96,8 @@ class CollisionEnvBullet : public CollisionEnv
void updatedPaddingOrScaling(const std::vector<std::string>& links) override;

/** \brief All of the attached objects in the robot state are wrapped into bullet collision objects */
void addAttachedOjects(const moveit::core::RobotState& state,
std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;
void addAttachedObjects(const moveit::core::RobotState& state,
std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;

/** \brief Bundles the different checkSelfCollision functions into a single function */
void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
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10 changes: 5 additions & 5 deletions moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ void CollisionEnvBullet::checkSelfCollisionHelper(const CollisionRequest& req, C
std::lock_guard<std::mutex> guard(collision_env_mutex_);

std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> cows;
addAttachedOjects(state, cows);
addAttachedObjects(state, cows);

if (req.distance)
{
Expand Down Expand Up @@ -187,7 +187,7 @@ void CollisionEnvBullet::checkRobotCollisionHelper(const CollisionRequest& req,
}

std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
addAttachedOjects(state, attached_cows);
addAttachedObjects(state, attached_cows);
updateTransformsFromState(state, manager_);

for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
Expand All @@ -213,7 +213,7 @@ void CollisionEnvBullet::checkRobotCollisionHelperCCD(const CollisionRequest& re
std::lock_guard<std::mutex> guard(collision_env_mutex_);

std::vector<collision_detection_bullet::CollisionObjectWrapperPtr> attached_cows;
addAttachedOjects(state1, attached_cows);
addAttachedObjects(state1, attached_cows);

for (const collision_detection_bullet::CollisionObjectWrapperPtr& cow : attached_cows)
{
Expand Down Expand Up @@ -331,8 +331,8 @@ void CollisionEnvBullet::notifyObjectChange(const ObjectConstPtr& obj, World::Ac
}
}

void CollisionEnvBullet::addAttachedOjects(const moveit::core::RobotState& state,
std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
void CollisionEnvBullet::addAttachedObjects(const moveit::core::RobotState& state,
std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const
{
std::vector<const moveit::core::AttachedBody*> attached_bodies;
state.getAttachedBodies(attached_bodies);
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