Ask Your Question
0

Find the intersection between my robot model and a line

asked 2011-06-29 10:34:25 -0500

Adrian gravatar image

updated 2014-11-22 17:05:33 -0500

ngrennan gravatar image

I have a given line and I know this lines intersects the PR2. The line always intersects the robot at the same link (forearm).

I want to know WHERE this line intersects the PR2.

What is a good approach to do that?

Is there for a example a method which gives me the triangles for a link?

edit retag flag offensive close merge delete

3 Answers

Sort by ยป oldest newest most voted
1

answered 2011-08-02 20:23:28 -0500

AHornung gravatar image

updated 2011-08-02 23:14:58 -0500

There is code in the motion_planning_common stack which does this. Have a look at the robot_self_filter package. It contains a "shadow filter" which can detect if a sensor ray is occluded by the links of a robot - afaik it performs raycasting and detects the intersection with the mesh model, which is what you would need.

edit flag offensive delete link more
0

answered 2011-08-18 09:16:47 -0500

Adrian gravatar image

I solved it by using the mesh STL files that are located in the pr2_description package. I sent a line through the mesh and used the cross product to determine which triangle the line intersects.

But thank you for the answers!

edit flag offensive delete link more
0

answered 2011-07-01 01:08:19 -0500

makokal gravatar image

Could you maybe rephrase the question, because

"The line always intersects the robot at the same link (forearm).

I want to know WHERE this line intersects the PR2."

is very confusing

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2011-06-29 10:34:25 -0500

Seen: 437 times

Last updated: Aug 18 '11