Best way to check collisions on trajectory using FCL
Hi,
I'm currently working on motion planning program for my robot. For some reasons I haven't used OMPL (Open motion planning library) to perform whole motion planning including collision detection. But I want to use FCL (Flexible collision library) anyway.
My question is what is the best way to check collisions on planned trajectory? I know I can e.g. check every point of trajectory and do collision check with this point and whole map using FCL. But I'm curious whether there is some other more efficient way to do this. Otherwise I would have to check in worst case all points on trajectory. Ofc I could reduce size of trajectory points including size of robot.
After some readings about FCL, I've found that FCL already have this functionality and it's called continuous collision detection. But as I can see, there is only collision between 2 collision objects. Is any other continuous collision check which can take as input e.g. start, goal and environment?
In the past, I successfully integrated OMPLapp demos in ROS nodes. They do what you want and use FCL by default. What is your reason for not using
OMPL?Thank you. The reason why I'm not using
OMPLis basically because I'm helping my friend with this where he has to implement his own motion planner.@l4ncelot, Did you find a way to do this?. If so, can help me to do the same?. Thank you.
As I can remember I saved the map in octomap format and checked every point of trajectory against the octomap.
FCLhas support for octomap (or at least I think so, it's been a while since I used it last time).