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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[planning] Add voxelized environment collision checker and supporting tools to planning/dev #21561

Open calderpg-tri opened 2 weeks ago

calderpg-tri commented 2 weeks ago

This change is Reviewable

calderpg-tri commented 2 weeks ago

+@tomstewart-woven for review, thanks!

Structure-wise, this code all comes from our internal codebase except for the following changes:

  1. New voxel_signed_distance_field.{cc, h} to encapsulate ownership of a VGT SignedDistanceField<float> in a way compatible with Drake's hidden namespacing of VGT
  2. The internal template functions of the voxel self filter and voxelized environment builder have been factored out to separate headers voxel_self_filter_internal.h and voxelized_environment_builder_internal.h
  3. Minor changes to the tests to remove dependencies on other parts of the internal codebase
tomstewart-woven commented 1 week ago

@calderpg-tri ACK! Let me take a look at this on the weekend :+1: