Add collision avoidance task maps - Githubissues

ipab-slmc / exotica

Extensible Optimization Framework

https://ipab-slmc.github.io/exotica

BSD 3-Clause "New" or "Revised" License

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Add collision avoidance task maps #664

Closed wxmerkt closed 5 years ago

wxmerkt commented 5 years ago

Adds three discrete-time collision avoidance task maps:

CollisionDistance (to be used as inequality constraint)
SmoothCollisionDistance (to be used as a cost)
SumOfPenetrations (either, with finite difference)