[Personalrobots-commit] SF.net SVN: personalrobots:[18422] pkg/trunk/motion_planning/ planning_environment

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

Revision: 18422
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18422&view=rev
Author:   isucan
Date:     2009-07-07 22:02:57 +0000 (Tue, 07 Jul 2009)

Log Message:
-----------
update for ben

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_models.h
    pkg/trunk/motion_planning/planning_environment/src/collision_models.cpp

Modified: pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_models.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_models.h	2009-07-07 21:56:07 UTC (rev 18421)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/collision_models.h	2009-07-07 22:02:57 UTC (rev 18422)
@@ -51,8 +51,13 @@
 	
 	CollisionModels(const std::string &description, double scale = 1.0, double padd = 0.0) : RobotModels(description), scale_(scale), padd_(padd)
 	{
-	    loadCollision();
+	    loadCollision(collision_check_links_);
 	}
+
+	CollisionModels(const std::string &description, const std::vector<std::string> &links, double scale = 1.0, double padd = 0.0) : RobotModels(description), scale_(scale), padd_(padd)
+	{
+	    loadCollision(links);
+	}
 	
 	virtual ~CollisionModels(void)
 	{
@@ -63,7 +68,7 @@
 	{
 	    RobotModels::reload();
 	    ode_collision_model_.reset();
-	    loadCollision();
+	    loadCollision(collision_check_links_);
 	}
 	
 	/** \brief Return the instance of the constructed ODE collision model */
@@ -74,7 +79,7 @@
 
     protected:
 	
-	void loadCollision(void);
+	void loadCollision(const std::vector<std::string> &links);
 	
 	boost::shared_ptr<collision_space::EnvironmentModel> ode_collision_model_;
 

Modified: pkg/trunk/motion_planning/planning_environment/src/collision_models.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/collision_models.cpp	2009-07-07 21:56:07 UTC (rev 18421)
+++ pkg/trunk/motion_planning/planning_environment/src/collision_models.cpp	2009-07-07 22:02:57 UTC (rev 18422)
@@ -36,13 +36,13 @@
 
 #include "planning_environment/collision_models.h"
 
-void planning_environment::CollisionModels::loadCollision(void)
+void planning_environment::CollisionModels::loadCollision(const std::vector<std::string> &links)
 {
     if (loadedModels())
     {
 	ode_collision_model_ = boost::shared_ptr<collision_space::EnvironmentModel>(new collision_space::EnvironmentModelODE());
 	ode_collision_model_->lock();
-	ode_collision_model_->addRobotModel(kmodel_, collision_check_links_, scale_, padd_);
+	ode_collision_model_->addRobotModel(kmodel_, links, scale_, padd_);
 
 	// form all pairs of links that can collide and add them as self-collision groups
 	for (unsigned int i = 0 ; i < self_collision_check_groups_.size() ; ++i)


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