Pass more distance information out from FCL collision check #2572
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sea-bass
approved these changes
Dec 4, 2023
sjahr
approved these changes
Dec 4, 2023
moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
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moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
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| double distance = std::numeric_limits<double>::max(); | ||
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| /** \brief Distance data for each link */ | ||
| DistanceResult distance_result; |
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What about making this an optional field
std::optional
…tion/collision_common.h Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>
…ction/collision_common.h
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #2572 +/- ##
==========================================
- Coverage 50.87% 50.49% -0.37%
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Files 388 387 -1
Lines 32323 32157 -166
==========================================
- Hits 16441 16236 -205
- Misses 15882 15921 +39 ☔ View full report in Codecov by Sentry. |
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CI error is not related to this PR |
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Description
Bring moveit/moveit#3531 to MoveIt 2