Adds a simple class to compute signed distances between geometries and their Jacobians, including a polytope representation of the frictional Jacobian. If useful, it would also be easy to add a variation which doesn't compute the polytope.
Drake has this existing functionality scattered about, but not all in one place.
Adds a simple class to compute signed distances between geometries and their Jacobians, including a polytope representation of the frictional Jacobian. If useful, it would also be easy to add a variation which doesn't compute the polytope.
Drake has this existing functionality scattered about, but not all in one place.
This change is