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collision_detection::World::moveObject() #957

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merged 1 commit into from Jun 25, 2018

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commented Jun 23, 2018

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 v4hn merged commit d3d8887 into ros-planning:kinetic-devel Jun 25, 2018

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v4hn added a commit that referenced this pull request Jun 25, 2018

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commented Jun 25, 2018

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.

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commented Jun 26, 2018

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.

@rhaschke rhaschke deleted the ubi-agni:moveObject branch Jul 4, 2018

dg-shadow added a commit to shadow-robot/moveit that referenced this pull request Jul 30, 2018

MohmadAyman added a commit to MohmadAyman/moveit that referenced this pull request Aug 25, 2018

rhaschke added a commit to ubi-agni/moveit that referenced this pull request Oct 20, 2018

rhaschke added a commit that referenced this pull request Oct 25, 2018

rhaschke added a commit that referenced this pull request Oct 25, 2018

ggupta9777 added a commit to ggupta9777/moveit that referenced this pull request Mar 17, 2019

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