Fix getCollisionItems method (issue #165)

RoboDK · Jan 31, 2025 · a52eb34 · a52eb34
1 parent f4bd3e2
commit a52eb34
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Showing 2 changed files with 11 additions and 14 deletions.
diff --git a/C++/robodk_api.cpp b/C++/robodk_api.cpp
@@ -2863,22 +2863,19 @@ int RoboDK::Collision(Item item1, Item item2){
     return ncollisions;
 }
 
-QList<Item> RoboDK::getCollisionItems(QList<int> link_id_list)
-{
+QList<Item> RoboDK::getCollisionItems(QList<int>& link_id_list) {
+    link_id_list.clear();
+    QList<Item> itemList;
+
     _check_connection();
-    _send_Line("Collision Items");
+    _send_Line("Collision_Items");
     int nitems = _recv_Int();
-    QList<Item> itemList = QList<Item>();
-    if (!link_id_list.isEmpty()){
-        link_id_list.clear();
-    }
-    for (int i = 0; i < nitems; i++){
+    itemList.reserve(nitems);
+    link_id_list.reserve(nitems);
+    for (int i = 0; i < nitems; i++) {
         itemList.append(_recv_Item());
-        int linkId = _recv_Int();
-        if (!link_id_list.isEmpty()){
-            link_id_list.append(linkId);
-        }
-        int collisionTimes = _recv_Int();
+        link_id_list.append(_recv_Int());
+        _recv_Int(); // Number of objects it is in collisions with (unused)
     }
     _check_status();
     return itemList;

diff --git a/C++/robodk_api.h b/C++/robodk_api.h
@@ -1073,7 +1073,7 @@ class ROBODK RoboDK {
     /// </summary>
     /// <param name="link_id_list">List of robot link IDs that are in collision (0 for objects and tools).</param>
     /// <returns>List of items that are in a collision state.</returns>
-    QList<Item> getCollisionItems(QList<int> link_id_list);
+    QList<Item> getCollisionItems(QList<int>& link_id_list);
 
     /// <summary>
     /// Sets the current simulation speed. Set the speed to 1 for a real-time simulation. The slowest speed allowed is 0.001 times the real speed. Set to a high value (>100) for fast simulation results.