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Collision Checker

There are two collisions checkers currently available in AutomotiveDrivingModels.jl. The first collision checker is accessible through the function is_colliding and relies on Minkowski sum. The second one is accessible through collision_checker and uses the parallel axis theorem. The latter is a bit faster. A benchmark script is available in test/collision_checkers_benchmark.jl and relies on static arrays.

Parallel Axis Theorem

This collision checker relies on the parallel axis theorem. It checks that two convex polygon overlap

    collision_checker

Vehicles can be converted to polygon (static matrices containing four vertices).

    polygon

Minkowski Sum

Here are the methods available using Minkowski sum.

    is_colliding
    ConvexPolygon
    CPAMemory
    CollisionCheckResult
    to_oriented_bounding_box!
    get_oriented_bounding_box
    is_potentially_colliding
    get_collision_time
    get_first_collision
    is_collision_free
    get_distance
    get_edge