Simplify allowCollisions(object, JMG)

rhaschke · v4hn · commit 71fab0fbce15 · 2021-11-10T12:11:39.000+01:00
diff --git a/demo/src/pick_place_task.cpp b/demo/src/pick_place_task.cpp
@@ -429,9 +429,7 @@ bool PickPlaceTask::init() {
 		 *****************************************************/
 		{
 			auto stage = std::make_unique<stages::ModifyPlanningScene>("forbid collision (hand,object)");
-			stage->allowCollisions(
-			    object_name_,
-			    t.getRobotModel()->getJointModelGroup(hand_group_name_)->getLinkModelNamesWithCollisionGeometry(), false);
+			stage->allowCollisions(object_name_, *t.getRobotModel()->getJointModelGroup(hand_group_name_), false);
 			place->insert(std::move(stage));
 		}
 

Original file line number	Diff line number	Diff line change
`@@ -429,9 +429,7 @@ bool PickPlaceTask::init() {`
`429`	`429`	`*****************************************************/`
`430`	`430`	`{`
`431`	`431`	`auto stage = std::make_unique<stages::ModifyPlanningScene>("forbid collision (hand,object)");`
`432`		`- stage->allowCollisions(`
`433`		`- object_name_,`
`434`		`- t.getRobotModel()->getJointModelGroup(hand_group_name_)->getLinkModelNamesWithCollisionGeometry(), false);`
	`432`	`+ stage->allowCollisions(object_name_, *t.getRobotModel()->getJointModelGroup(hand_group_name_), false);`
`435`	`433`	`place->insert(std::move(stage));`
`436`	`434`	`}`
`437`	`435`