liangyuwei / moveit_collision_apis_call Public

Encapsulated use examples of MoveIt Collision APIs for binary collision detection, minimum distance computation, calculating contact normals, and contact jacobians, etc.

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Name		Name	Last commit message	Last commit date
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moveit_collision_apis_call		moveit_collision_apis_call
CMakeLists.txt		CMakeLists.txt
README.md		README.md

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moveit_collision_apis_call

Environment: Ubuntu 16.04 + MoveIt Kinetic

Not documented yet ...

To do list:

Re-organize the code.
Add support for doxygen.
Add docker file.
Add TESTs. (include URDF and SRDF files)
Code and Tests for collision environment???
Try out new concepts, e.g. collision env???

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Encapsulated use examples of MoveIt Collision APIs for binary collision detection, minimum distance computation, calculating contact normals, and contact jacobians, etc.

collision-detection collision-environment penetration-depth contact-normal robot-jacobians

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