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Commit 865452d0 authored by Johannes Mey's avatar Johannes Mey
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use constant instead of magic numbers

parent 6f1fad65
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1 merge request!2Feature/public grasp side
...@@ -13,7 +13,7 @@ void EnvironmentUtil::constructPlate(std::vector<moveit_msgs::CollisionObject> & ...@@ -13,7 +13,7 @@ void EnvironmentUtil::constructPlate(std::vector<moveit_msgs::CollisionObject> &
plate.id = "plate"; plate.id = "plate";
plate.primitives.resize(1); plate.primitives.resize(1);
plate.primitives[0].type = 1u; plate.primitives[0].type = shape_msgs::SolidPrimitive::BOX;
plate.primitives[0].dimensions.resize(3); plate.primitives[0].dimensions.resize(3);
plate.primitives[0].dimensions[0] = x_dimension; plate.primitives[0].dimensions[0] = x_dimension;
plate.primitives[0].dimensions[1] = y_dimension; plate.primitives[0].dimensions[1] = y_dimension;
...@@ -39,7 +39,7 @@ void EnvironmentUtil::constructSupport(std::vector<moveit_msgs::CollisionObject> ...@@ -39,7 +39,7 @@ void EnvironmentUtil::constructSupport(std::vector<moveit_msgs::CollisionObject>
pick_support.id = id; pick_support.id = id;
pick_support.primitives.resize(1); pick_support.primitives.resize(1);
pick_support.primitives[0].type = 1u; pick_support.primitives[0].type = shape_msgs::SolidPrimitive::BOX;
pick_support.primitives[0].dimensions.resize(3); pick_support.primitives[0].dimensions.resize(3);
pick_support.primitives[0].dimensions[0] = object_x_dimension; pick_support.primitives[0].dimensions[0] = object_x_dimension;
pick_support.primitives[0].dimensions[1] = object_y_dimension; pick_support.primitives[0].dimensions[1] = object_y_dimension;
...@@ -64,7 +64,7 @@ moveit_msgs::CollisionObject EnvironmentUtil::constructObjectToPick(std::vector< ...@@ -64,7 +64,7 @@ moveit_msgs::CollisionObject EnvironmentUtil::constructObjectToPick(std::vector<
object_to_pick.id = id; object_to_pick.id = id;
object_to_pick.primitives.resize(1); object_to_pick.primitives.resize(1);
object_to_pick.primitives[0].type = object_to_pick.primitives[0].BOX; object_to_pick.primitives[0].type = shape_msgs::SolidPrimitive::BOX;
object_to_pick.primitives[0].dimensions.resize(3); object_to_pick.primitives[0].dimensions.resize(3);
object_to_pick.primitives[0].dimensions[0] = dimensions.x; object_to_pick.primitives[0].dimensions[0] = dimensions.x;
object_to_pick.primitives[0].dimensions[1] = dimensions.y; object_to_pick.primitives[0].dimensions[1] = dimensions.y;
......
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