how does Moveit FCL construct collision objects?

asked 2021-05-12 03:40:37 -0500

binzhou gravatar image

hello, I am now trying to calculate the distance between two objects using moveit FCL library. But the official document of FCL is really unclaer, dose anybody konw how this function works FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape, double scale, double padding, const robot_model::LinkModel* link, int shape_index);

it actually creat the collision object from the original mesh, but I don't konw how it really works and how to define the inputs.

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