fix: ConfigurationJitter should not permanently change robot's activeDOFIndices

rdiankov / openrave

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

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fix: ConfigurationJitter should not permanently change robot's activeDOFIndices #1259

Closed osbertngok closed 1 year ago

osbertngok commented 1 year ago

The side effect of changing robot's active dof indices seem to be unintended in UpdateLimits function in ConfigurationJitter / WorkspaceConfigurationJitter, and might lead to some unexpected consequences such as Robot::CheckSelfCollision() const might accidentally change active dof indices, should there be configuration jitterer having registered callbacks on robot changes.

Changes proposed by @yoshikikanemoto / @Puttichai

rdiankov commented 1 year ago

already merged