I am using FCL library to compute collision distance and nearest point of collision from robot arm. A robot arm is model using collisionObject and environment objects converted from octree to collisionObject. To compute distance and nearest point, I am using DynamicAABBTreeCollisionManager with GST_INDEP solver. A distance values, I am getting correctly. But a values from robot arm to environment objects are wrong. As far as I understand, it return internal octree (environment objects) values even setting up robot arm and environment objects from distance request. Is anyone facing same issue or know please let me know how to solve problem such that it will return me robot arm to environment objects point values?
Hello,
I am using FCL library to compute collision distance and nearest point of collision from robot arm. A robot arm is model using collisionObject and environment objects converted from octree to collisionObject. To compute distance and nearest point, I am using
DynamicAABBTreeCollisionManagerwith GST_INDEP solver. A distance values, I am getting correctly. But a values from robot arm to environment objects are wrong. As far as I understand, it return internal octree (environment objects) values even setting up robot arm and environment objects from distance request. Is anyone facing same issue or know please let me know how to solve problem such that it will return me robot arm to environment objects point values?