rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

http://www.openrave.org

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clear kinematics geometry hash when connected body active state changes #1256

Closed kanbouchou closed 1 year ago

kanbouchou commented 1 year ago

Background

https://github.com/rdiankov/openrave/pull/1240 minimized clearing of kinematics geometry hash, and https://github.com/rdiankov/openrave/pull/1241 fixed missing clearing of kinematics geometry hash.
A few more locations were needed to clear this cache, so this MR fixes it.

Note

__hashKinematicsGeometryDynamics was private, but now protected because RobotBase class need to access it.
Bumping version from 116 to 118 because https://github.com/rdiankov/openrave/pull/1251 updated changelog to 117 but probably forgot to change version in cmake.

rdiankov commented 1 year ago

thanks~