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Add support for capsule collision checking #158

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mikeferguson opened this issue Aug 25, 2016 · 1 comment
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Add support for capsule collision checking #158

mikeferguson opened this issue Aug 25, 2016 · 1 comment
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enhancement help wanted please consider improving this request!

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@mikeferguson
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Ported from moveit/moveit_core#239

The capsule geometry distance computation has been implemented last year in fcl (see flexible-collision-library/fcl#37) and it would be nice to access this feature directly through MoveIT (see https://github.com/Karsten1987/sot_fcl_distance_computation/blob/master/src/DistanceComputation.cpp where a cylinder geometry is treated as a capsule)
@mikeferguson mikeferguson added enhancement help wanted please consider improving this request! labels Aug 25, 2016
@wxmerkt wxmerkt mentioned this issue Sep 10, 2017
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JafarAbdi pushed a commit to JafarAbdi/moveit that referenced this issue Mar 24, 2022
@henningkayser
Port moveit_simple_controller_manager to ROS 2 (moveit#158)
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@mikeferguson
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There are several newer issues, with far more details. Notably, #742

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