碰撞对象:CollisionObject 几何形状:CollisionGeometry 位姿:Transform 碰撞操作 •碰撞操作就是对我们定义的碰撞对象执行一些查询操作,目前该库支持的有三种:1.碰撞检测、2.距离计算、3.连续碰撞检测 接着小鱼用程序在jupyter-notebook中来体验下。 3.2 导入fcl 同时把numpy也导入下 import fcl import numpy as np ...
box_obj = fcl.CollisionObject(box,box_tf) sphere_obj = fcl.CollisionObject(sphere,sphere_tf) 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 3.4 碰撞检测 结果为True # 碰撞检测 request = fcl.CollisionRequest() result = fcl.CollisionResult() ret = fcl.collide(box_obj, sphere_...
"tree_obj" 就是FCL检测是否碰撞的环境对象,另一个对象就是我们的SLAM底盘了。 //turn the pcl cloud to fcl::CollisionGeometry after octree//updtae the octomapoctomap::OcTree* treeOctomapPtr =newoctomap::OcTree(0.05); for(auto p:pclCloud->points) { if(p.z > groundHeightMax + carTF_zed...
(1)对两个多边形分别创建其对应的数据结构,如Mesh或CollisionObject。 (2)对两个多边形分别进行边界球或边界盒的计算,得到BoundingSphere或BoundingBox。 (3)对于两个多边形,分别将其每一个三角形拆分成多个线段或点,保存在一个可排序的集合中。 (4)对于每一个多边形,分别计算每一个三角形的分离轴,该过程需要确定...
t=fcl.Transform(R,T)b=fcl.Box(x,y,z)obj=fcl.CollisionObject(b,t) The transform of a collision object can be modified in-place: t1=fcl.Transform(R1,T1)obj.setTransform(t1)# Using a transformobj.setRotation(R2)# Specifying components individuallyobj.setTranslation(T2)obj.setQuatRotation(q2...
For continuous collision, FCL requires the goal transform to be provided (the initial transform is included in the collision object data structure). Beside that, the pipeline is almost the same as distance/collision: //Given two objects o1 and o2CollisionObjectf* o1 = ... CollisionObjectf* ...
FCL将所有collision and proximity queries between two objects建模为a traversal process along a hierarchical structure. FCL上的The traversal process分为三步进行: Object representation Traversal node initialization Hierarchy traversal FCL的object representation分为两类: Basic geometric objects:FCL支持七种 basic...
c++ 在使用FCL(Flexible Collision Detection)库对网格模型(.obj)进行距离查询时，出现堆栈溢出FCL 0.6....
c++ 在使用FCL(Flexible Collision Detection)库对网格模型(.obj)进行距离查询时，出现堆栈溢出FCL 0.6....
broadphase_collision_manager-inl.h /usr/include/fcl/broadphase/broadphase_collision_manager.h /usr/include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h /usr/include/fcl/broadphase/broadphase_continuous_collision_manager.h /usr/include/fcl/broadphase/broadphase_dynamic_AABB_tree-inl....