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From: <is...@us...> - 2009-01-17 03:23:21
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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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