Always make pqpmodel for detailed shape

[snozawa]

Always make pqpmodel for detailed shape according to https://github.com/euslisp/jskeus/pull/232

[k-okada]

humm, it complicated

• qhull-faceset -> convex hull faceset, used for geometric representation
• gl-vertices -> original mesh , used for gl display
• :make-collision-model-for-links -> only supported in euscollada robot?

[snozawa]

:make-collision-model-for-links -> only supported in euscollada robot?

Exactly.

qhull-faceset -> convex hull faceset, used for geometric representation
gl-vertices -> original mesh , used for gl display

Currently, not. gl-vertices is used for gl display, detailed geometric representation, and currently used for collision checking like self-collision-cehck. qhull-faceset is used for simple geometric representation.

We already discussed about this.

• :make-collision-model-for-links method should be moved to irteus and supported in irteus level. However, curretly detailed geometric representation can be obtain gl-vertices and obtaining collision shape from "GL" something is strange. So, we need to rename gl-vertices or refine these structures.
• We need to discuss to add simple geometry and detailed geometry to some classes in irteus level such as bodyset and body classes. It would be better to remove gl-vertices from irteus. Collision program and gl program just use common detailed geometry slot variables.

Related PR and isseue:

• Moving codes to irteus and being reverted : https://github.com/euslisp/jskeus/pull/93
• DIscussion about gl-vertices : https://github.com/jsk-ros-pkg/jsk_model_tools/issues/41