Set collision checking true

[JeroenDM]

After finishing the basic tutorial I wanted to enable collision checking. In the decartes_moveit docs I found the isInCollision boolean, but it seems that the setCollisionCheck() method is not yet implemented as metioned on line 107 in the file moveit_state_adapter.h.

/**

• TODO: Checks for collisions at this joint pose. The setCollisionCheck(true) must have been
• called previously in order to enable collision checks, otherwise it will return false.
• @param joint_pose the joint values at which check for collisions will be made */

In decartes_core, the RobotModel class has a setCheckCollisions() method (mention the naming difference with setCollisionCheck) When I try to add the following line to the tutorial1.cpp file model.setCheckCollisions(true); I get a compilation error when building (with catkin_make).

‘descartes_core::RobotModelPtr’ has no member named ‘setCheckCollisions’ model.setCheckCollisions(true);

I tried adding this line before and after the initialize(...) is called in the tutorial code: model.setCheckCollisions(true); // before if (!model->initialize(robot_description, group_name, world_frame, tcp_frame)) { ROS_INFO("Could not initialize robot model"); return -1; } // model.setCheckCollisions(true); // or after

I also don't understand where the Ptr comes from at the end of the descartes_core::RobotModelPtr used in the tutorial code. I'm using the indigo-devel branch, maybe the problem is related to differences between the branches..

Please forgive me for possibly making trivial mistakes, I'm relatively new to the ros universe.

[JeroenDM]

I realize that I did make a trivial mistake, as predicted. I tried to call a c++ function using the dot operator. (I started learning ROS using python scripting...) I will use the double colon (::) operator, read more tutorials on virtual objects and pointers (that's where the Ptr comes from!) and then everything should work just fine.

[Bart123456]

Instead of using the line model.setCheckCollisions(true); You can use the following line: model->setCheckCollisions(true);

This has to do with the 'model' object being a pointer. I still have to look into the details myself, however.