Exemplos de KinBodyPtr::GetName em C++ (Cpp)

Exemplo n.º 1

Arquivo: collision_checker.cpp Projeto: panjia1983/channel_backward

void CollisionChecker::IgnoreZeroStateSelfCollisions(OpenRAVE::KinBodyPtr body) {
  LOG_DEBUG("IgnoreZeroStateSelfCollisions for %s", body->GetName().c_str());
  KinBody::KinBodyStateSaver saver(body);
  body->SetDOFValues(DblVec(body->GetDOF(), 0));
  body->SetTransform(Transform(Vector(1,0,0,0), (Vector(0,0,10))));


  vector<Collision> collisions;
  BodyVsAll(*body,  collisions);
  LOG_DEBUG("%li extra self collisions in zero state", collisions.size());
  for(int i=0; i < collisions.size(); ++i) {
    LOG_DEBUG("ignoring self-collision: %s %s", collisions[i].linkA->GetName().c_str(), collisions[i].linkB->GetName().c_str());
    ExcludeCollisionPair(*collisions[i].linkA, *collisions[i].linkB);
  }
  LOG_DEBUG("------");
}