Commits

John Hsu committed 70f1857 Merge

merging

  • Participants
  • Parent commits e115972, 4703306
  • Branches gazebo_3.0_dart_4.0

Comments (0)

Files changed (4)

File gazebo/physics/dart/DARTLink.cc

   Link_V links = this->GetModel()->GetLinks();
 
   bool isSkeletonSelfCollidable =
-      this->dtBodyNode->getSkeleton()->isSelfCollidable();
+      this->dtBodyNode->getSkeleton()->isEnabledSelfCollisionCheck();
 
   if (_collide)
   {
     // the pairs of which both of the links in the pair is not self collidable.
     else
     {
-      dtSkeleton->setSelfCollidable(true);
+      dtSkeleton->enableSelfCollision();
 
       for (size_t i = 0; i < links.size() - 1; ++i)
       {
       }
     }
     if (isAllLinksNotCollidable)
-      dtSkeleton->setSelfCollidable(false);
+      dtSkeleton->disableSelfCollision();
   }
 }
 

File gazebo/physics/dart/DARTModel.cc

   // collidable.
   if (hasPairOfSelfCollidableLinks)
   {
-    this->dtSkeleton->setSelfCollidable(true);
+    this->dtSkeleton->enableSelfCollision();
 
     dart::simulation::SoftWorld *dtWorld = this->GetDARTPhysics()->GetDARTWorld();
     dart::collision::CollisionDetector *dtCollDet =

File gazebo/physics/dart/DARTScrewJoint.cc

File contents unchanged.

File gazebo/physics/dart/DARTScrewJoint.hh

       public: virtual void SetAxis(unsigned int _index,
                   const math::Vector3 &_axis);
 
+      // Documentation inherited.
+      public: virtual double GetAttribute(const std::string &_key,
+                  unsigned int _index) GAZEBO_DEPRECATED(3.0);
+
       /// \copydoc ScrewJoint::SetThreadPitch
       public: virtual void SetThreadPitch(unsigned int _index,
                   double _threadPitch);
       // Documentation inherited.
       protected: virtual void SetForceImpl(unsigned int _index, double _effort);
 
-      /// \copydoc Joint::GetAttribute
-      public: double GetAttribute(const std::string &_key, unsigned int _index);
-
       /// \brief Universal joint of DART
       protected: dart::dynamics::ScrewJoint *dartScrewJoint;
     };