Hi Prof. Hauser,
I am currently using void GetSelfCollisionPairs(Array2D & collision) and virtual bool SelfCollision(Real distance=0) to detect selfCollision for a given robot model in c++ environment. However, it seems to me that the results given to me from these two functions are not correct. For example, I have the robot's configuration set to be
Obviously, self-collision should not be reported. However, virtual bool SelfCollision(Real distance=0) indicates the robot is in self-collision and from the collision list provided from void GetSelfCollisionPairs(Array2D & collision) , links not in collision are said to be in collision for example, these two links are said to be in collision.
![6.JPG](https://gitq.com/files/raw/1470eec2820c57a4eb74c0527adde4dc9ac55df3.jpg)
![11.JPG](https://gitq.com/files/raw/c63e7dffffad29e703d1576f6b5ee5d710578891.jpg)
So are there some prerequiste functions that should be called in advance to properly enable self-collision detection?