Revision history [back]

As far as I know FCL supports some primitive geometrical shapes to check for collisions. Let’s say you detect your moving objects from the cloud, you can represent the detected objects with some primitive shapes such as box or cylinder then you can call collide callback from FCL.

I have done this in one of my recent project, I check collision between a 3D box representing robot body and octomap that is representing an envoirment.

As far as I know FCL supports some primitive geometrical shapes to check for collisions. Let’s say you detect your moving objects from the cloud, you can represent the detected objects with some primitive shapes such as box or cylinder then you can call collide callback from FCL.

I have done this in one of my recent project, I check collision between a 3D box representing robot body and octomap that is representing an envoirment.

As far as I know FCL supports some primitive geometrical shapes to check for collisions. Let’s say you detect your moving objects from the cloud, you can represent the detected objects with some primitive shapes such as box or cylinder then you can call collide callback from FCL.

I have done this in one of my recent project, I check collision between a 3D box representing robot body and octomap that is representing an envoirment.

Check out the function named isStateValid() https://github.com/NMBURobotics/vox_nav/blob/c52de8ae7b66d3653c8fbd9bf077f5a09bb2dac5/vox_nav_planning/src/plugins/se2_planner.cpp#L202

Don’t be scared that the code looks a bit complex, you can only focus FCL:: parts , and see how dimensions , translation and rotation components are set for collision objects. Overall I think It’s doing something very similar of what you describe.