collision_detection::World::moveObject()

[rhaschke]

Provide a convienency method to move all shapes of a collision object. Before, for all shapes shapes we had to call moveShapeInObject(), which created overhead for finding the object over and over.

[v4hn]

Thanks, makes sense to add.
Merged and picked to melodic.

May I ask in what context you use these interfaces?
Adding things to the collision world directly is quite low-level and having more than one shape in an object does not behave very nice in other places either, so I'm wondering.

[rhaschke]

I used this function to fix initial collisions of objects spawned from our vision pipeline. Due to bad fitting and or bad camera-robot calibration, these objects might collide with the table.
In my case, I have direct access to a PlanningScene and thus the underlying World object.