Discrete collision check setting

[rjoomen]

Shouldn't is_continuous be false here, as it is the LVSDiscreteCollisionEvaluator?

[rjoomen]

Otherwise LVSContinuousCollisionEvaluator::CalcCollisionData() and LVSDiscreteCollisionEvaluator::CalcCollisionData() are exactly the same.

[Levi-Armstrong]

It needs to be set to true, it is still considered continues from a trajopt perspective even though it is using a discrete contact checker because it is integrating collision data along the path between two state.

[rjoomen]

What do you think about moving CalcCollisionData() to parent class ContinuousCollisionEvaluator then?