Where both obj1 and obj2 are Octree;
Printing the result.distance_lower_boud always gives the infinity value - either for collision or non-collision situations.
Am I doing something wrong? or is it not supported to do collision checks between two-point clouds? - if so, is it possible to get guidance to implement that part?
setting request.enable_contact to true, allows to get the result. But, the distance between objects needs to be bigger than octomapResolution(the same used for both ) + security_margin
Executing this part of the code:
hpp::fcl::CollisionRequest request(hpp::fcl::DISTANCE_LOWER_BOUND, 1); hpp::fcl::CollisionResult result; request.enable_distance_lower_bound = true; request.security_margin = 10; hpp::fcl::collide(obj1.get(), t1, obj2.get(), t2, request, result);
Where both obj1 and obj2 are Octree; Printing the result.distance_lower_boud always gives the infinity value - either for collision or non-collision situations.
Am I doing something wrong? or is it not supported to do collision checks between two-point clouds? - if so, is it possible to get guidance to implement that part?
setting request.enable_contact to true, allows to get the result. But, the distance between objects needs to be bigger than octomapResolution(the same used for both ) + security_margin
It is with the latest Release version v2.4.4