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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?
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.
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!
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
Asked: 2011-06-29 10:34:25 -0500
Seen: 581 times
Last updated: Aug 18 '11
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