[rtc/CollisoinDetector] add m_collision_mask property

[k-okada]

No description provided.

[k-okada]

add new param in conf file

collision_mask: 1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
#collision_mask: 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1   

which joint corresponding to 0 will move even if collision is detected.

you can check output of rtcd whether we use this feature during initialization phase.

[co] prop[collision_mask] ->1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
[co] CollisionDetector will not control LLEG_HIP_P
[co] CollisionDetector will not control LLEG_HIP_Y
[co] CollisionDetector will not control LLEG_KNEE
[co] CollisionDetector will not control LLEG_ANKLE_P
[co] CollisionDetector will not control LLEG_ANKLE_R
[co] CollisionDetector will not control LARM_SHOULDER_P
[co] CollisionDetector will not control LARM_SHOULDER_R
[co] CollisionDetector will not control LARM_SHOULDER_Y
[co] CollisionDetector will not control LARM_ELBOW
[co] CollisionDetector will not control LARM_WRIST_Y
[co] CollisionDetector will not control LARM_WRIST_P
[co] CollisionDetector will not control LARM_WRIST_R
[co] CollisionDetector will not control WAIST_P
[co] CollisionDetector will not control WAIST_R
[co] CollisionDetector will not control CHEST

[k-okada]

Refer to this link for build results (access rights to CI server needed):
http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2060/
Test PASSed.