Rename setPairCollisionMarginData to setPairCollisionCoeff

tesseract-robotics · Jun 6, 2023 · 73cde01 · 73cde01
1 parent 8066b98
commit 73cde01
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/trajopt_ifopt/include/trajopt_ifopt/constraints/collision/collision_types.h b/trajopt_ifopt/include/trajopt_ifopt/constraints/collision/collision_types.h
@@ -52,19 +52,19 @@ struct CollisionCoeffData
   CollisionCoeffData(const double& default_collision_coeff = 1);
 
   /**
-   * @brief Set the margin for a given contact pair
+   * @brief Set the coefficient for a given contact pair
    *
    * The order of the object names does not matter, that is handled internal to
    * the class.
    *
    * @param obj1 The first object name. Order doesn't matter
    * @param obj2 The Second object name. Order doesn't matter
-   * @param Coeff used for collision pair
+   * @param Coeff Coefficient
    */
-  void setPairCollisionMarginData(const std::string& obj1, const std::string& obj2, const double& collision_coeff);
+  void setPairCollisionCoeff(const std::string& obj1, const std::string& obj2, const double& collision_coeff);
 
   /**
-   * @brief Get the pairs collision coeff
+   * @brief Get the pairs collision coefficient
    *
    * If a collision coeff for the request pair does not exist it returns the default collision coeff
    *
@@ -75,7 +75,7 @@ struct CollisionCoeffData
   const double& getPairCollisionCoeff(const std::string& obj1, const std::string& obj2) const;
 
 private:
-  /// Stores the collision margin used if no pair-specific one is set
+  /// Stores the collision coefficient used if no pair-specific one is set
   double default_collision_coeff_;
 
   /// A map of link pair names to contact distance

diff --git a/trajopt_ifopt/src/constraints/collision/collision_types.cpp b/trajopt_ifopt/src/constraints/collision/collision_types.cpp
@@ -32,9 +32,9 @@ CollisionCoeffData::CollisionCoeffData(const double& default_collision_coeff)
 {
 }
 
-void CollisionCoeffData::setPairCollisionMarginData(const std::string& obj1,
-                                                    const std::string& obj2,
-                                                    const double& collision_coeff)
+void CollisionCoeffData::setPairCollisionCoeff(const std::string& obj1,
+                                               const std::string& obj2,
+                                               const double& collision_coeff)
 {
   auto key = tesseract_common::makeOrderedLinkPair(obj1, obj2);
   lookup_table_[key] = collision_coeff;