From 3f1b95c6fe52452809fab6b07fb12b6a8c9bdda4 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Sat, 21 Dec 2024 08:44:08 -0600
Subject: [PATCH] Move getSummary implementation to cpp

---
 .../include/tesseract_collision/core/types.h  | 40 ++-----------------
 tesseract_collision/core/src/types.cpp        | 37 +++++++++++++++++
 2 files changed, 40 insertions(+), 37 deletions(-)

diff --git a/tesseract_collision/core/include/tesseract_collision/core/types.h b/tesseract_collision/core/include/tesseract_collision/core/types.h
index 86f374b7f3c..e70b026a838 100644
--- a/tesseract_collision/core/include/tesseract_collision/core/types.h
+++ b/tesseract_collision/core/include/tesseract_collision/core/types.h
@@ -290,45 +290,11 @@ class ContactResultMap
   bool operator==(const ContactResultMap& rhs) const;
   bool operator!=(const ContactResultMap& rhs) const;
 
-  /** @brief Get a brief summary of the most frequently colliding link pair
+  /**
+   * @brief Get a brief summary of the most frequently colliding link pair
    * @return A string containing the collision summary
    */
-  std::string getSummary() const
-  {
-    std::stringstream ss;
-    std::map<KeyType, std::size_t> collision_counts;
-    std::map<KeyType, double> closest_distances;
-
-    // Initialize distances map with max values
-    for (const auto& pair : data_)
-    {
-      if (!pair.second.empty())
-      {
-        collision_counts[pair.first] = pair.second.size();
-        closest_distances[pair.first] = std::numeric_limits<double>::max();
-
-        // Find closest distance for this pair
-        for (const auto& result : pair.second)
-        {
-          closest_distances[pair.first] = std::min(closest_distances[pair.first], result.distance);
-        }
-      }
-    }
-
-    if (collision_counts.empty())
-    {
-      return "No collisions detected";
-    }
-
-    auto max_element = std::max_element(collision_counts.begin(),
-                                        collision_counts.end(),
-                                        [](const auto& p1, const auto& p2) { return p1.second < p2.second; });
-
-    ss << max_element->first.first << " - " << max_element->first.second << ": " << max_element->second
-       << " collisions, min dist: " << closest_distances[max_element->first];
-
-    return ss.str();
-  }
+  std::string getSummary() const;
 
 private:
   ContainerType data_;
diff --git a/tesseract_collision/core/src/types.cpp b/tesseract_collision/core/src/types.cpp
index 6ebb651eced..21c396c02cb 100644
--- a/tesseract_collision/core/src/types.cpp
+++ b/tesseract_collision/core/src/types.cpp
@@ -308,6 +308,43 @@ bool ContactResultMap::operator==(const ContactResultMap& rhs) const
 }
 bool ContactResultMap::operator!=(const ContactResultMap& rhs) const { return !operator==(rhs); }
 
+std::string ContactResultMap::getSummary() const
+{
+  std::stringstream ss;
+  std::map<KeyType, std::size_t> collision_counts;
+  std::map<KeyType, double> closest_distances;
+
+  // Initialize distances map with max values
+  for (const auto& pair : data_)
+  {
+    if (!pair.second.empty())
+    {
+      collision_counts[pair.first] = pair.second.size();
+      closest_distances[pair.first] = std::numeric_limits<double>::max();
+
+      // Find closest distance for this pair
+      for (const auto& result : pair.second)
+      {
+        closest_distances[pair.first] = std::min(closest_distances[pair.first], result.distance);
+      }
+    }
+  }
+
+  if (collision_counts.empty())
+  {
+    return "No collisions detected";
+  }
+
+  auto max_element = std::max_element(collision_counts.begin(),
+                                      collision_counts.end(),
+                                      [](const auto& p1, const auto& p2) { return p1.second < p2.second; });
+
+  ss << max_element->first.first << " - " << max_element->first.second << ": " << max_element->second
+     << " collisions, min dist: " << closest_distances[max_element->first];
+
+  return ss.str();
+}
+
 ContactTestData::ContactTestData(const std::vector<std::string>& active,
                                  CollisionMarginData collision_margin_data,
                                  IsContactAllowedFn fn,