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tesseract-robotics / tesseract

Motion Planning Environment
http://tesseract-docs.rtfd.io
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Can TesseractCompoundCollisionAlgorithm and TesseractCompoundCompoundCollisionAlgorithm be removed? #1005

Open rjoomen opened 3 months ago

rjoomen commented 3 months ago

I noticed TesseractCompoundCollisionAlgorithm misses some old bugfixes from btCompoundCollisionAlgorithm. I could easily add those to Tesseract, but I noticed that both TesseractCompoundCollisionAlgorithm and TesseractCompoundCompoundCollisionAlgorithm say they could be removed (here and here). Is this already the case? I'm not entirely sure what would be required for that. In my testing Trajopt ran fine with those removed and even the TesseractConvexConvexAlgorithm removed (although the latter one has modifications important to OMPL planning speed and should not be removed).

Levi-Armstrong commented 3 months ago

It will run fine but these were added for performance reason to allow exiting collision checking faster in the event you wanted to collision to terminator of the first contact found. A PR would need to be made against bullet updating the callback to avoid needing these classes. I think the best option is to port the bug fixes and create an MR updating the callback interface.

rjoomen commented 3 months ago

Thanks for explaining. I can do that, but can you point me to where/how the callback interface has to be updated? In the meantime I'll port the bugfixes.

rjoomen commented 3 months ago

Bugfix: #1008