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HybridRobotics / cbf

An open source repository for control, planning and navigation about control barrier functions.
Apache License 2.0
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Add general polygon representation. #6

Closed junzengx14 closed 3 years ago

junzengx14 commented 3 years ago

We need this feature for more general geometric model and challenging environment.

junzengx14 commented 3 years ago

Let's finish basic features before working on this one. This feature is useful for assigning obstacles in open space.

AkshayThiru commented 3 years ago

The code for general polygonal obstacles is already implemented and works fine. Is this issue for non-rectangular car geometry? If so, I suggest we implement this with general robot dynamics since it would need a major rework of the code structure.

junzengx14 commented 3 years ago

Yeah, I mean for non-rectangle convex region geometry. We can leave this feature later. Let's leave this issue later.

junzengx14 commented 3 years ago

We already have this feature, I linked this issue and it will be closed after the latest PR is merged.