[Personalrobots-commit] SF.net SVN: personalrobots:[9612] pkg/trunk

[<is...@us...>]

Revision: 9612
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=9612&view=rev
Author:   isucan
Date:     2009-01-17 01:59:07 +0000 (Sat, 17 Jan 2009)

Log Message:
-----------


Modified Paths:
--------------
    pkg/trunk/motion_planning/kinematic_planning/include/RKPStateValidator.h
    pkg/trunk/world_models/robot_models/collision_space/include/collision_space/environment.h
    pkg/trunk/world_models/robot_models/collision_space/src/collision_space/environmentODE.cpp

Modified: pkg/trunk/motion_planning/kinematic_planning/include/RKPStateValidator.h
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/include/RKPStateValidator.h	2009-01-17 01:55:39 UTC (rev 9611)
+++ pkg/trunk/motion_planning/kinematic_planning/include/RKPStateValidator.h	2009-01-17 01:59:07 UTC (rev 9612)
@@ -60,7 +60,7 @@
 	
 	if (valid)
 	    valid = m_kce.decide();
-	
+
 	return valid;
     }
     

Modified: pkg/trunk/world_models/robot_models/collision_space/include/collision_space/environment.h
===================================================================
--- pkg/trunk/world_models/robot_models/collision_space/include/collision_space/environment.h	2009-01-17 01:55:39 UTC (rev 9611)
+++ pkg/trunk/world_models/robot_models/collision_space/include/collision_space/environment.h	2009-01-17 01:59:07 UTC (rev 9612)
@@ -117,8 +117,8 @@
 
     protected:
         
-	boost::mutex m_lock;
-	bool               m_selfCollision;
+	boost::mutex                                  m_lock;
+	bool                                          m_selfCollision;
 	
 	/** List of loaded robot models */	
 	std::vector<planning_models::KinematicModel*> m_models;

Modified: pkg/trunk/world_models/robot_models/collision_space/src/collision_space/environmentODE.cpp
===================================================================
--- pkg/trunk/world_models/robot_models/collision_space/src/collision_space/environmentODE.cpp	2009-01-17 01:55:39 UTC (rev 9611)
+++ pkg/trunk/world_models/robot_models/collision_space/src/collision_space/environmentODE.cpp	2009-01-17 01:59:07 UTC (rev 9612)
@@ -312,6 +312,7 @@
 		    // up using it.
 		    dGeomID g1 = m_kgeoms[model_id].geom[vec[j]]->geom;
 		    dGeomID g2 = m_kgeoms[model_id].geom[vec[k]]->geom;
+		    
 		    dReal aabb1[6], aabb2[6];		    
 		    dGeomGetAABB(g1, aabb1);
 		    dGeomGetAABB(g2, aabb2);
@@ -321,13 +322,13 @@
 			  aabb1[4] > aabb2[5] ||
 			  aabb1[5] < aabb2[4])) 
 			dSpaceCollide2(g1, g2, reinterpret_cast<void*>(&cdata), nearCallbackFn);
+
 		    if (cdata.collides)
 			goto OUT1;
 		}
 	}
     }
     
-
     /* check collision with standalone ode bodies */
  OUT1:
 


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