graspPlugin for Choreonoid

Choreonoid 1.3から以下の点が変更されています。

干渉チェック

• .h

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 ColdetLinkPairUpdateCheckPtr   ->   cnoid::ColdetLinkPairPtr

• .cpp

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 #include <boost/make_shared.hpp>

 using namespace boost;

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 #ifdef  CNOID_10_11_12_13
        arm()->palmObjPair = new ColdetLinkPair(palm(),object() );
 #else
        arm()->palmObjPair = make_shared< ColdetLinkPair >(body(), palm(), bodyItem->body(), object() );
 #endif

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 ColdetLinkPairUpdateCheckPtr temp= new ColdetLinkPairUpdateCheck(bodyItemRobot()->body()->link(i),bodyItemRobot()->body()->link(j));

->

 #ifdef  CNOID_10_11_12_13
            ColdetLinkPairPtr temp= new ColdetLinkPair(bodyItemRobot()->body()->link(i),bodyItemRobot()->body()->link(j));
 #else
            ColdetLinkPairPtr temp = make_shared< ColdetLinkPair >(bodyItemRobot()->body(), bodyItemRobot()->body()->link(i), bodyItemRobot()->body(), bodyItemRobot()->body()->link(j) );
 #endif

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 robotObjPairs.push_back(new ColdetLinkPairUpdateCheck(bodyItemRobot()->body()->link(j), object() ));

->

 #ifdef  CNOID_10_11_12_13
                robotObjPairs.push_back(new ColdetLinkPair(bodyItemRobot()->body()->link(j), object() ));
 #else
                robotObjPairs.push_back(make_shared< ColdetLinkPair >(bodyItemRobot()->body(),bodyItemRobot()->body()->link(j),targetObject->bodyItemObject->body(),object()));
 #endif

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 #ifdef  CNOID_10_11_12_13
        if(j==nJoints-1) linkObjPair[j] = new ColdetLinkPair(tip, bo->body()->link(0));
        else linkObjPair[j] = new ColdetLinkPair(fing_path->joint(j), bo->body()->link(0));
 #else
        if(j==nJoints-1) linkObjPair[j] = make_shared< ColdetLinkPair >(body, tip, bo->body(), bo->body()->link(0));
        else linkObjPair[j] = make_shared< ColdetLinkPair >(body, fing_path->joint(j), bo->body(), bo->body()->link(0));
 #endif

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JointPath の設定

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 #include <cnoid/JointPath>

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 #ifdef  CNOID_10_11_12_13
    fing_path = body->getJointPath(palm, tip);
 #else
    fing_path = make_shared< JointPath >(palm, tip);
 #endif

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ItemList関連

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 #ifndef  CNOID_10_11_12_13
    #include <cnoid/ItemList>
 #endif

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 #ifdef CNOID_10_11_12_13
        BodyItem* item = prevSelected[i];
 #else
        BodyItem* item = prevSelected.get(i);
 #endif

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LinkやJointクラスのメンバ変数名

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pがp()に変更
RがR()に変更
qがq()に変更
等

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