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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.

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liangyuwei/moveit_collision_apis_call

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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.

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