From ee4b79fdd5267a98aa9bd5a27cf4ebc80b7d9fcb Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Tue, 6 Sep 2011 21:31:18 +0000
Subject: [PATCH] make gtest in collision_space_fcl work on electric
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@25 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/collision_space_fcl/src/environmentFCL.cpp | 3 +++
.../test/test_collision_space_fcl.cpp | 11 ++++-------
2 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/trunk/collision_space_fcl/src/environmentFCL.cpp b/trunk/collision_space_fcl/src/environmentFCL.cpp
index 8f75a17a..03aa8362 100644
--- a/trunk/collision_space_fcl/src/environmentFCL.cpp
+++ b/trunk/collision_space_fcl/src/environmentFCL.cpp
@@ -1038,6 +1038,7 @@ void EnvironmentModelFCL::addObject(const std::string& ns, shapes::Shape* shape,
fcl::CollisionObject* g = createGeom(shape, 1.0, 0.0);
assert(g);
+ cn->env_geom_manager->registerObject(g);
default_collision_matrix_.addEntry(ns, false);
@@ -1063,6 +1064,8 @@ void EnvironmentModelFCL::addObject(const std::string& ns, shapes::StaticShape*
fcl::CollisionObject* g = createGeom(shape);
assert(g);
+ cn->env_geom_manager->registerObject(g);
+
cn->geoms.push_back(g);
cn->env_geom_manager->registerObject(g);
objects_->addObject(ns, shape);
diff --git a/trunk/collision_space_fcl/test/test_collision_space_fcl.cpp b/trunk/collision_space_fcl/test/test_collision_space_fcl.cpp
index da318e30..33b2c599 100644
--- a/trunk/collision_space_fcl/test/test_collision_space_fcl.cpp
+++ b/trunk/collision_space_fcl/test/test_collision_space_fcl.cpp
@@ -145,10 +145,9 @@ TEST_F(TestCollisionSpaceFCL, TestACM) {
ASSERT_TRUE(coll_space_->isCollision());
//now we get the full set of collisions in the default state
- std::vector<collision_space_fcl::EnvironmentModel::AllowedContact> ac;
std::vector<collision_space_fcl::EnvironmentModel::Contact> contacts;
- coll_space_->getAllCollisionContacts(ac, contacts, 1);
+ coll_space_->getAllCollisionContacts(contacts, 1);
ASSERT_TRUE(contacts.size() > 1);
//now we change all these pairwise to true
@@ -185,10 +184,9 @@ TEST_F(TestCollisionSpaceFCL, TestAttachedObjects)
coll_space_->updateRobotModel(&state);
//now we get the full set of collisions in the default state
- std::vector<collision_space_fcl::EnvironmentModel::AllowedContact> ac;
std::vector<collision_space_fcl::EnvironmentModel::Contact> contacts;
- coll_space_->getAllCollisionContacts(ac, contacts, 1);
+ coll_space_->getAllCollisionContacts(contacts, 1);
//now we change all these pairwise to true
for(unsigned int i = 0; i < contacts.size(); i++) {
@@ -375,10 +373,9 @@ TEST_F(TestCollisionSpaceFCL, TestStaticObjects)
ASSERT_TRUE(coll_space_->isEnvironmentCollision());
//now we get the full set of collisions in the default state
- std::vector<collision_space_fcl::EnvironmentModel::AllowedContact> ac;
std::vector<collision_space_fcl::EnvironmentModel::Contact> contacts;
- coll_space_->getAllCollisionContacts(ac, contacts, 1);
+ coll_space_->getAllCollisionContacts(contacts, 1);
//now we change all these pairwise to true
for(unsigned int i = 0; i < contacts.size(); i++) {
@@ -432,7 +429,7 @@ TEST_F(TestCollisionSpaceFCL, TestStaticObjects)
EXPECT_FALSE(coll_space_->isEnvironmentCollision());
contacts.clear();
- coll_space_->getAllCollisionContacts(ac, contacts, 1);
+ coll_space_->getAllCollisionContacts(contacts, 1);
//now we change all these pairwise to true
for(unsigned int i = 0; i < contacts.size(); i++) {
--
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