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Add a capsule primitive #25

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neckutrek opened this issue Jan 16, 2017 · 0 comments
Open

Add a capsule primitive #25

neckutrek opened this issue Jan 16, 2017 · 0 comments
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@ksatyaki
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enhancement

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@neckutrek
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A capsule primitive would be able to nicely wrap around robot links and used in obstacle avoidance.

  1. Add a capsule primtive class
  2. Extend the geometric primitive map with the capsule primtive
  3. Extend the geometric primitive visitors
  4. Extend GeomProj task definition with capsule/capsule and capsule/sphere projections
  5. Test in simulation
  6. Merge the changes into devel
@ksatyaki ksatyaki self-assigned this Jan 31, 2017
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@ksatyaki ksatyaki

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@neckutrek @ksatyaki