Calculation of convex hull

[snozawa]

I'd like to get convex hull for support polygon calculation.

I cannot get convex hull because of "edgeq error" from convex-hull-3d.

I tried the following command:

(load "models/h7-robot.l")
(setq *h7* (h7))
(objects (list (send *h7* :rleg :ankle-r :child-link)))
(convex-hull-3d (remove-duplicates
                 (flatten (send-all (send (send *h7* :rleg :ankle-r :child-link) :bodies) :vertices))
                 :test #'(lambda (x y) (eps-v= x y *epsilon*))))

I obtain the following error:

irteusgl 0 error:  edgeq error!! in (convex-hull-3d (remove-duplicates (flatten (send-all (send (send *h7* :rleg :ankle-r :child-link) :bodies) :vertices)) :test #'(lambda (x y) (eps-v= x y *epsilon*))))

I also tried quickhull function, but obtained points are not correct (not convex hull).

(send-all (quickhull (remove-duplicates  (flatten (send-all (send (send *h7* :rleg :ankle-r :child-link) :bodies) :vertices))
                 :test #'(lambda (x y) (eps-v= x y *epsilon*)))) :draw-on :flush t :size 10 :color #f( 1 0 0))

[k-okada]

Could you check if this happens on euslib? They might have slightly different imprementation.

[snozawa]

Thank you. As you said, euslib's convex-hull-3d works without error and it seems to have an appropriate shape.

euslib's convex-hull-3d is implemented in jsk/primtpatch.l and jsk/jskgeoc.c.

[k-okada]

please check the difference between two code carefully, if you just copy the code from euslib to irteus, then irteus become another euslib, and people do not want to touch them because of it too large and weird, and start talking about creating new more cleaner / simpler euslisp robot model implementation.

[snozawa]

OK, I'll try it, but it will take a while.

[k-okada]

does this related to https://github.com/euslisp/EusLisp/pull/21?