Collision in scene is working but too slow...

[yijiangh]

• [ ] build class storing collision objects, massive unnecessary initiation now [@yijiangh]
• [ ] replace tf using tf2 [@yijiangh]

[yijiangh]

@cookt I'm wondering if we have to specify the pose in the collision generation here. I think the orientation of pose is to be determined in searching and motion planning process.

[yijiangh]

RenderingWidget is supposed to be a scene builder currently sits on Qt UI framework.

It implements the slot callback function in response to click event from button (or slider) in RvizPanel class.

It should only take following functionalities:

• file input parser
• planning_scene build-up (including collision objects construction)
• visualization of computation result in Rviz (take computation result from main computation container - FrameFab class and call Rviz to visualize it).

Thus it should maintain the following class as member variables:

• ptr_wireframe: wire_frame line-graph (volume-free pure geometry) parsed from input pwf file
• ptr_frame_collisionobjects (bad name...): collision objects computed out of ptr_wire_frame. This should be saved, so after input once, we don't have to construct it again whenever we press "display pose" (a name abuse again). The primitive pose should be left blank for further computation. This is just a wire frame with collision volume, not related to pose (spatial point + orientation for end effector) at all. And also this class should have a good hash, so that we can sort and get collision members by query really fast.
• ptrscene : this one should be passed to computation class FrameFab, for motion planning.

[yijiangh]

Prerequisite for #17 .

[yijiangh]

Introducing property container hierarchy (refer OpenMesh property container).

Thanks for the idea of @kiki007