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humanoid-path-planner / hpp-rbprm

"Implementation of RB-PRM planner using hpp."
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fix generateStateInContact #50

Closed pFernbach closed 5 years ago

pFernbach commented 5 years ago

Two fix required to make the methods 'generateContact' and 'generateStateInContact' work correctly:

Heuristic : when using the fixedStep heuristic without any information about the future trajectory of the root, it default to use the static value of the current analysis.

projectSampleToObstacle : the espilon value is now added along the contact normal instead of along the direction of (orthogonalProjection -> projection inside the triangle). This change have been made because when the orthogonal projection is already inside the triangle, the numerical approximations may lead to a direction which go inside the obstacle.

Note that it may be better to completely remove this epsilon at this step, as there is already an offset defined in the limb used to avoid the collision with the contact surface ...

pFernbach commented 5 years ago

deprecated. I will open another PR.