Open IanTheEngineer opened 6 years ago
if (jointsInCollision(kinematic_chain_map_[req.tip_names[i]], jnt_result)) { res.result_type[i] = res.IK_IN_COLLISION; } TODO(imcmahon) Utilize FCL for collision checking
We could use FCL, or some other library to check to see if the robot is in collision at any configuration.
We could use FCL, or some other library to check to see if the robot is in collision at any configuration.