Fix allowCollisions(object, enable_collision)

Call ACM::setDefaultEntry to also cover objects that are not yet known to the ACM.
This commit is contained in:
Robert Haschke 2023-05-06 20:08:15 +02:00
parent 45ca1a67a9
commit d59acdb969

View File

@ -111,8 +111,10 @@ void ModifyPlanningScene::allowCollisions(planning_scene::PlanningScene& scene,
collision_detection::AllowedCollisionMatrix& acm = scene.getAllowedCollisionMatrixNonConst();
bool allow = invert ? !pairs.allow : pairs.allow;
if (pairs.second.empty()) {
for (const auto& name : pairs.first)
for (const auto& name : pairs.first) {
acm.setDefaultEntry(name, allow);
acm.setEntry(name, allow);
}
} else
acm.setEntry(pairs.first, pairs.second, allow);
}