Todo List

Class tesseract_collision::ContactResultMap

This should be updated to leverage a object pool for ContactResultVector where in the set and add methods it would check it the pair exists and if not it would pull from the object pool.

Member tesseract_collision::getCollisionObjectPairs (const std::vector< std::string > &active_links, const std::vector< std::string > &static_links, const std::shared_ptr< const tesseract_common::ContactAllowedValidator > &validator=nullptr)

Should this also filter out links without geometry?