since parent collision is always disabled by default for self-collision, we add a new flag

URDF_USE_SELF_COLLISION_INCLUDE_PARENT, to force self-collision between direct parent/child (not recommended in general)

examples/SharedMemory/SharedMemoryPublic.h

@@ -830,6 +830,7 @@ enum eURDF_Flags
 	URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
     URDF_ENABLE_SLEEPING=2048,
 	URDF_INITIALIZE_SAT_FEATURES = 4096,
+	URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
 };
 
 enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes