MoveIt! Collision Detection of Single Point

asked 2016-04-22 16:10:07 -0500

akihiko gravatar image


I am using planning_scene::PlanningScene of MoveIt! to detect collisions with the checkCollision member function.

Now I would like to program a lower-level collision check. How can I detect a collision of a single point (x,y,z)?

My goal is for a given set of points (i.e. point cloud), categorizing each point into (1) colliding with a robot or an object or (2) no-collision. I guess a collision detection of single point would solve this problem. But if have any other ideas, please let me know.


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Ever figure this out? I'd also like to know whether a given point is in collision before doing other processing. Thanks.

mcevoyandy gravatar image mcevoyandy  ( 2017-02-27 15:43:03 -0500 )edit