Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add collision checking to Inverse Kinematics Sim Service #19

Open
IanTheEngineer opened this issue Oct 27, 2017 · 0 comments
Open

Add collision checking to Inverse Kinematics Sim Service #19

IanTheEngineer opened this issue Oct 27, 2017 · 0 comments

Comments

@IanTheEngineer
Copy link
Contributor 

if (jointsInCollision(kinematic_chain_map_[req.tip_names[i]], jnt_result))
        {
          res.result_type[i] = res.IK_IN_COLLISION;
        }  TODO(imcmahon) Utilize FCL for collision checking

We could use FCL, or some other library to check to see if the robot is in collision at any configuration.
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@IanTheEngineer