Proximity query for medical robotic application
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README.md

Proximity Query for medical robotic application

Proximity Query (PQ) is a process to calculate the relative placement of objects. It is a critical task for many applications such as robot motion planning, particularly those involving human-robot collaborative control. This program computes a PQ formulation which can support non-convex objects represented by meshes or cloud points.

How to use

Compile: make

Debug: make debug

Run test case: make run

Change log

Feb 2013

- Support Openmp for parallel acceleration 

Jan 2013

pq.cpp
- Port to C++
- CPU only
- Polar form only
- Need modified data file
- MAX_NUM_POINTS 1409232

Oct 2012

pq_all.c
- Added three modes
- Added pq_server and client
- Original data files need to be modified

June 2012

pq_polar.c
- Added polar form

April 2012

pq.c
- Original contour form version with cpu and gpu definitions