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Use applyContactManagerConfig instead of manually setting #282

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Use applyContactManagerConfig instead of manually setting #282

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12 changes: 2 additions & 10 deletions trajopt_ifopt/src/constraints/collision/continuous_collision_evaluators.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,11 +68,7 @@ LVSContinuousCollisionEvaluator::LVSContinuousCollisionEvaluator(

contact_manager_ = env_->getContinuousContactManager();
contact_manager_->setActiveCollisionObjects(manip_active_link_names_);
contact_manager_->setCollisionMarginData(collision_config_->contact_manager_config.margin_data);
// Increase the default by the buffer
contact_manager_->setDefaultCollisionMarginData(
collision_config_->contact_manager_config.margin_data.getMaxCollisionMargin() +
collision_config_->collision_margin_buffer);
contact_manager_->applyContactManagerConfig(collision_config_->contact_manager_config);
}

CollisionCacheData::ConstPtr
Expand Down Expand Up @@ -243,11 +239,7 @@ LVSDiscreteCollisionEvaluator::LVSDiscreteCollisionEvaluator(

contact_manager_ = env_->getDiscreteContactManager();
contact_manager_->setActiveCollisionObjects(manip_active_link_names_);
contact_manager_->setCollisionMarginData(collision_config_->contact_manager_config.margin_data);
// Increase the default by the buffer
contact_manager_->setDefaultCollisionMarginData(
collision_config_->contact_manager_config.margin_data.getMaxCollisionMargin() +
collision_config_->collision_margin_buffer);
contact_manager_->applyContactManagerConfig(collision_config_->contact_manager_config);
}

CollisionCacheData::ConstPtr
Expand Down
6 changes: 1 addition & 5 deletions trajopt_ifopt/src/constraints/collision/discrete_collision_evaluators.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,11 +67,7 @@ SingleTimestepCollisionEvaluator::SingleTimestepCollisionEvaluator(std::shared_p

contact_manager_ = env_->getDiscreteContactManager();
contact_manager_->setActiveCollisionObjects(manip_active_link_names_);
contact_manager_->setCollisionMarginData(collision_config_->contact_manager_config.margin_data);
// Increase the default by the buffer
contact_manager_->setDefaultCollisionMarginData(
collision_config_->contact_manager_config.margin_data.getMaxCollisionMargin() +
collision_config_->collision_margin_buffer);
contact_manager_->applyContactManagerConfig(collision_config_->contact_manager_config);
}

CollisionCacheData::ConstPtr
Expand Down