Expand description
Implements collision detection
Structs§
- Base
Body - Optional structure attached to the robot base joint. It has its own global transform that brings the robot to the location. This structure includes two transforms, one bringing us to the base of the stand supporting the robot (and this is the pose of the stand itself), and then another defining the point where J1 rotating part begins.
- Collision
Body - Static object against that we check the robot does not collide. Unlike robot joint, it has the global transform allowing to place it where desired.
- Robot
Body - Struct representing the geometry of a robot, which is composed of exactly 6 joints.
- Safety
Distances - Defines tolerance bounds, how far it should be between any part of the robot, or environment object, or any two parts of the robot. As some robot joints may come very close together, they may require specialized distances.
Enums§
Constants§
- NEVER_
COLLIDES - Constant specifying that robot parts never collide so do not need to be checked for collision (so negative value used).
- TOUCH_
ONLY - Constant specifying that only interesection test must be done (any non zero distance sufficient).
Functions§
- transform_
mesh - Pre-apply local transform for the mesh if needed. This may be needed for the robot joint if it is defined in URDF with some local transform