compatibility to MoveIt master branch

This commit is contained in:
Robert Haschke 2019-11-27 17:43:57 +01:00
parent 47a9929608
commit acddc268ed
2 changed files with 14 additions and 0 deletions

View File

@ -33,6 +33,15 @@ else ()
set(CMAKE_CXX_STANDARD 14)
endif ()
# check for MOVEIT_MASTER
include(CheckIncludeFileCXX)
set(CMAKE_REQUIRED_INCLUDES ${moveit_core_INCLUDE_DIRS})
CHECK_INCLUDE_FILE_CXX(moveit/collision_detection/collision_env.h MOVEIT_MASTER)
if(NOT MOVEIT_MASTER)
set(MOVEIT_MASTER 0)
endif()
add_definitions(-DMOVEIT_MASTER=${MOVEIT_MASTER})
set(PROJECT_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/include/moveit/task_constructor)
add_subdirectory(src)

View File

@ -110,8 +110,13 @@ SubTrajectory FixCollisionObjects::fixCollisions(planning_scene::PlanningScene&
bool failure = false;
while (!failure) {
res.clear();
#if MOVEIT_MASTER
scene.getCollisionEnv()->checkRobotCollision(req, res, scene.getCurrentState(),
scene.getAllowedCollisionMatrix());
#else
scene.getCollisionWorld()->checkRobotCollision(req, res, *scene.getCollisionRobotUnpadded(),
scene.getCurrentState(), scene.getAllowedCollisionMatrix());
#endif
if (!res.collision)
return result;