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Update to leverage ContactResultMap class #205

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merged 2 commits into from
Apr 4, 2023
Merged

Update to leverage ContactResultMap class #205

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c2d0075
Update to leverge ContactResultMap class
Levi-Armstrong Apr 3, 2023
5b8f541
Merge branch 'master' into feat/AddContactResultClass
Levi-Armstrong Apr 3, 2023
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13 changes: 8 additions & 5 deletions tesseract_monitoring/src/contact_monitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@ void ContactMonitor::computeCollisionReportThread()
{
boost::shared_ptr<sensor_msgs::JointState> msg = nullptr;
tesseract_collision::ContactResultMap contacts;
tesseract_collision::ContactResultVector contacts_vector;
tesseract_msgs::ContactResultVector contacts_msg;
std::string root_link;
// Limit the lock
Expand Down Expand Up @@ -152,6 +153,7 @@ void ContactMonitor::computeCollisionReportThread()
current_joint_states_.reset();

contacts.clear();
contacts_vector.clear();
contacts_msg.contacts.clear();

monitor_->environment().setState(msg->name,
Expand All @@ -164,8 +166,7 @@ void ContactMonitor::computeCollisionReportThread()

if (!contacts.empty())
{
tesseract_collision::ContactResultVector contacts_vector;
tesseract_collision::flattenMoveResults(std::move(contacts), contacts_vector);
contacts.flattenCopyResults(contacts_vector);
contacts_msg.contacts.reserve(contacts_vector.size());
for (std::size_t i = 0; i < contacts_vector.size(); ++i)
{
Expand Down Expand Up @@ -240,7 +241,10 @@ bool ContactMonitor::callbackModifyTesseractEnv(tesseract_msgs::ModifyEnvironmen
bool ContactMonitor::callbackComputeContactResultVector(tesseract_msgs::ComputeContactResultVectorRequest& request,
tesseract_msgs::ComputeContactResultVectorResponse& response)
{
tesseract_collision::ContactResultMap contact_results;
thread_local tesseract_collision::ContactResultMap contact_results;
thread_local tesseract_collision::ContactResultVector contacts_vector;
contact_results.clear();
contacts_vector.clear();

monitor_->environment().setState(
request.joint_states.name,
Expand All @@ -254,8 +258,7 @@ bool ContactMonitor::callbackComputeContactResultVector(tesseract_msgs::ComputeC
manager_->contactTest(contact_results, type_);
}

tesseract_collision::ContactResultVector contacts_vector;
tesseract_collision::flattenMoveResults(std::move(contact_results), contacts_vector);
contact_results.flattenCopyResults(contacts_vector);
response.collision_result.contacts.reserve(contacts_vector.size());
for (const auto& contact : contacts_vector)
{
Expand Down