Adding EarlyStopped flag in GJK #371
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Here the distance has a meaning as a lower distance bound. |
jcarpent
previously approved these changes
Jan 11, 2023
jcarpent
previously approved these changes
Jan 11, 2023
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Importantly, this PR solves a bug occurring in Pinocchio in debug mode. |
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When GJK early stops, the closest points
p1andp2make no sense, so we can simply set them tonan.Q: What should we do about
distance? For now it is set to the distance between the origin and the separating hyperplane, but we could set it tonanlike the closest points.