Move from string-based links and joints to id-based logic (using hashes)

[rjoomen]

Requires tesseract-robotics/tesseract#1274 and tesseract-robotics/tesseract_planning#734

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Pull request overview

Copilot reviewed 46 out of 46 changed files in this pull request and generated 2 comments.

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tesseract/collision/coal/src/coal_utils.cpp:914

• updateCollisionObjectFilters() calls isLinkActive(active_ids, cow->getLinkId()), but there is no definition of isLinkActive anywhere in this repository (searching only finds these call sites). This will not compile. Replace the call with an inline membership test against active_ids (e.g., active_ids.find(cow->getLinkId()) != active_ids.end()) or add the missing helper function in a shared header/source file.

void updateCollisionObjectFilters(
    const std::unordered_set<tesseract::common::LinkId, tesseract::common::LinkId::Hash>& active_ids,
    const COW::Ptr& cow,
    const std::unique_ptr<coal::BroadPhaseCollisionManager>& static_manager,
    const std::unique_ptr<coal::BroadPhaseCollisionManager>& dynamic_manager)
{
  // For discrete checks we can check static to kinematic and kinematic to
  // kinematic
  if (!isLinkActive(active_ids, cow->getLinkId()))
  {
    if (cow->m_collisionFilterGroup != CollisionFilterGroups::StaticFilter)
    {
      const std::vector<CollisionObjectPtr>& objects = cow->getCollisionObjects();

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Pull request overview

Copilot reviewed 47 out of 47 changed files in this pull request and generated 1 comment.

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Pull request overview

Copilot reviewed 47 out of 47 changed files in this pull request and generated 2 comments.

Comments suppressed due to low confidence (1)

tesseract/collision/test/coal/coal_deferred_octree_expansion_unit.cpp:71

• getCastCollisionObjectMap() returns a Link2COW keyed by tesseract::common::LinkId, so calling cast_map.find("octree_link") will not compile (no heterogeneous lookup for std::unordered_map). Use cast_map.find(tesseract::common::LinkId("octree_link")) (and update the other occurrences in this file).

  const auto& cast_map = checker_.getCastCollisionObjectMap();
  auto it = cast_map.find("octree_link");
  ASSERT_NE(it, cast_map.end());

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