search

flexible-collision-library / fcl

Flexible Collision Library
https://flexible-collision-library.github.io/
Other
1.35k stars 415 forks source link

What does GST_INDEP mean? #593

Closed zichunxx closed 1 year ago

zichunxx commented 1 year ago

Hi!

Are there some instructions on the narrow phase solver GST_INDEP to know the difference between GST_INDEPand GST_LIBCCD?

Help would be much appreciated!

SeanCurtis-TRI commented 1 year ago

The "independent" solver (GST_INDEP) looks to me like a tentative effort and writing an FCL-only solver (one that doesn't depend on libccd). Our early tinkering with it left us feeling like the GST_LIBCCD solver was more reliable. I don't know if that's definitively true, but I can say that based on that belief, all of the recent efforts to provide solver fixes have been solely focused on GST_LIBCCD.

Feel free to try GST_INDEP, if you find circumstances where it clearly provides superior results, please let us know.

yckm commented 7 months ago

1645774_smaple.json 1645774_smaple.json文件是我对fcl模型采样后的点云数据. 我在计算机械臂到外部环境距离的时候,使用fcl::GJKSolverType::GST_LIBCCD;发现最近点并不在建立的圆柱体表面,而当我将类型更换为fcl::GJKSolverType::GST_INDEP后,效果非常好. 这是使用fcl::GJKSolverType::GST_INDEP的结果(正确): image 这是使用 fcl::GJKSolverType::GST_LIBCCD的结果(错误): image