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compatibility to MoveIt master branch
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@ -33,6 +33,15 @@ else ()
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD 14)
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endif ()
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endif ()
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# check for MOVEIT_MASTER
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include(CheckIncludeFileCXX)
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set(CMAKE_REQUIRED_INCLUDES ${moveit_core_INCLUDE_DIRS})
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CHECK_INCLUDE_FILE_CXX(moveit/collision_detection/collision_env.h MOVEIT_MASTER)
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if(NOT MOVEIT_MASTER)
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set(MOVEIT_MASTER 0)
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endif()
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add_definitions(-DMOVEIT_MASTER=${MOVEIT_MASTER})
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set(PROJECT_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/include/moveit/task_constructor)
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set(PROJECT_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/include/moveit/task_constructor)
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add_subdirectory(src)
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add_subdirectory(src)
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@ -110,8 +110,13 @@ SubTrajectory FixCollisionObjects::fixCollisions(planning_scene::PlanningScene&
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bool failure = false;
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bool failure = false;
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while (!failure) {
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while (!failure) {
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res.clear();
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res.clear();
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#if MOVEIT_MASTER
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scene.getCollisionEnv()->checkRobotCollision(req, res, scene.getCurrentState(),
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scene.getAllowedCollisionMatrix());
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#else
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scene.getCollisionWorld()->checkRobotCollision(req, res, *scene.getCollisionRobotUnpadded(),
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scene.getCollisionWorld()->checkRobotCollision(req, res, *scene.getCollisionRobotUnpadded(),
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scene.getCurrentState(), scene.getAllowedCollisionMatrix());
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scene.getCurrentState(), scene.getAllowedCollisionMatrix());
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#endif
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if (!res.collision)
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if (!res.collision)
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return result;
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return result;
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