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Set collision detector and solver for DART #225
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Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Codecov Report
@@ Coverage Diff @@
## main #225 +/- ##
==========================================
+ Coverage 82.22% 82.28% +0.06%
==========================================
Files 107 109 +2
Lines 4292 4353 +61
==========================================
+ Hits 3529 3582 +53
- Misses 763 771 +8
Continue to review full report at Codecov.
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@osrf-jenkins run tests please |
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
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Looks great! Just a few minor comments.
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
🎉 New feature
Summary
Add a feature that allows setting and getting a couple of physics options: the collision detector and the solver. DART offers a few options for each of these. The motivation is to make it easier for end users to test different options (which I want to do on #218).
It can be seen on the commit history that my first implementation was getting the options directly from SDF files. However, the
sdf::World
object received fromign-gazebo
doesn't contain theElement()
pointer, and thesdf::Physics
object doesn't have collision detector and solver information yet due to gazebosim/sdformat#508. That's why I went for the feature approach instead.Test it
The API's usage can be seen on the added test. It's also used on gazebosim/gz-sim#684.
Checklist
Updated migration guide (as needed)codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge
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