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Python patches for Feb 2022 update #716

Merged
merged 7 commits into from
Feb 22, 2022
Merged

Python patches for Feb 2022 update #716

merged 7 commits into from
Feb 22, 2022

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johnwason
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This pull request contains patches for the Feb 2022 python update.

@johnwason johnwason mentioned this pull request Feb 20, 2022
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codecov bot commented Feb 20, 2022 •
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Codecov Report

Merging #716 (ad05f0e) into master (0112622) will increase coverage by 0.01%.
The diff coverage is 100.00%.

Impacted file tree graph

@@            Coverage Diff             @@
##           master     #716      +/-   ##
==========================================
+ Coverage   90.95%   90.96%   +0.01%     
==========================================
  Files         189      189              
  Lines       12641    12637       -4     
==========================================
- Hits        11497    11495       -2     
+ Misses       1144     1142       -2
Impacted Files Coverage Δ
...t_collision/core/contact_managers_plugin_factory.h 100.00% <ø> (ø)
...seract_collision/core/continuous_contact_manager.h 100.00% <ø> (ø)
...esseract_collision/core/discrete_contact_manager.h 100.00% <ø> (ø)
...nclude/tesseract_common/allowed_collision_matrix.h 100.00% <ø> (ø)
tesseract_common/include/tesseract_common/types.h 100.00% <ø> (ø)
...onment/include/tesseract_environment/environment.h 100.00% <ø> (ø)
...act_geometry/include/tesseract_geometry/geometry.h 100.00% <ø> (ø)
...ct_geometry/include/tesseract_geometry/impl/mesh.h 83.78% <ø> (+3.29%) ⬆️
...eometry/include/tesseract_geometry/impl/sdf_mesh.h 100.00% <ø> (ø)
...ude/tesseract_kinematics/core/forward_kinematics.h 100.00% <ø> (ø)
... and 15 more

Levi-Armstrong
Levi-Armstrong reviewed Feb 21, 2022
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tesseract_geometry/include/tesseract_geometry/geometry.h Outdated
@@ -50,6 +50,7 @@ enum GeometryType
CONVEX_MESH,
SDF_MESH,
OCTREE,
POLYGON_MESH
};
static const std::vector<std::string> GeometryTypeStrings = {
"SPHERE", "CYLINDER", "CAPSULE", "CONE", "BOX", "PLANE", "MESH", "CONVEX_MESH", "SDF_MESH", "OCTREE"
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I would also append "POLYGON_MESH"

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I made the change.

tesseract_geometry/include/tesseract_geometry/impl/polygon_mesh.h
@@ -201,7 +203,7 @@ class PolygonMesh : public Geometry
*
* @return The vertex normal vector
*/
std::shared_ptr<const tesseract_common::VectorVector3d> getNormals() const { return normals_; }
const std::shared_ptr<const tesseract_common::VectorVector3d>& getNormals() const { return normals_; }
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Just curious, why the switch to const&?

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SWIG wasn't detecting the type properly without const&

@johnwason
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I am still cleaning up these patches to fix the CI errors

@Levi-Armstrong
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@johnwason You good with me merging this?

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Yeah looks ready

@Levi-Armstrong Levi-Armstrong merged commit 3ddc7ef into tesseract-robotics:master Feb 22, 2022
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@johnwason @Levi-Armstrong