Fast computation of feasibility for contact points

Experimental project to learn a feasibility function, which directly relates two points in configuration space

Sub-projects: -- Read in a .tris file, consisting of triangles, and display it in RVIZ + doing collision checking with FCL -- Random walk sampling of feasible positions between two objects -- log time for distance checking, depending on distance between objects

Dependencies

FCL lib -- git://github.com/flexible-collision-library/fcl.git

Eigen

Boost 1.44+

Optional

Fann http://leenissen.dk/fann/wp/ (NN implementation for approximating feasibility function)

The usual path to a fresh build:

• mkdir build
• cd build
• cmake ..
• make

See also https://wiki.laas.fr/robots/MoCap and https://wiki.laas.fr/robots/FastReplanner