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Upstream changes #142

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merged 2 commits into from
Jan 4, 2025
Merged

Upstream changes #142

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8c80968
Update tesseract collision validator
Levi-Armstrong Jan 4, 2025
fb7af8a
Update because composite constructor changed
Levi-Armstrong Jan 4, 2025
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3 changes: 1 addition & 2 deletions command_language/demo/command_language_demo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,7 @@ int main(int argc, char** argv)
QApplication app(argc, argv);

// Create Program
CompositeInstruction program(
"cartesian_program", CompositeInstructionOrder::ORDERED, ManipulatorInfo("manipulator", "base_link", "tool0"));
CompositeInstruction program("cartesian_program", ManipulatorInfo("manipulator", "base_link", "tool0"));

// Set the robot initial state
std::vector<std::string> joint_names;
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2 changes: 1 addition & 1 deletion common/src/environment_wrapper.cpp
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Expand Up @@ -235,7 +235,7 @@ void eventFilterHelper(QObject* /*obj*/,
auto state_solver = env.getStateSolver();

// We want to disable the allowed contact function for this process so it is set null
contact_manager->setIsContactAllowedFn(nullptr);
contact_manager->setContactAllowedValidator(nullptr);
tesseract_collision::ContactResultMap results;
tesseract_collision::ContactRequest request;
request.type = tesseract_collision::ContactTestType::ALL;
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