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jrl-umi3218 / sch-core

Implementation and computation algorithms for the convex hulls
BSD 2-Clause "Simplified" License
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Superellipsoid parameters #47

Open gursoyege opened 1 year ago

gursoyege commented 1 year ago

I couldn't find any definition for the superellipsoid parameters: a, b, c, epsilon1, epsilon2. What do they correspond to ?

mehdi-benallegue commented 1 year ago

Thank you for pointing this out, I will improve the documentation of this part, here are some details, I hope they are useful

image This rendering might also give you an intuition about these parameters image

This definition is similar to the one you can find in

Moustakas, Konstantinos, Dimitrios Tzovaras, and Michael Gerassimos Strintzis. "SQ-Map: Efficient layered collision detection and haptic rendering." IEEE Transactions on Visualization and Computer Graphics 13.1 (2006): 80-93.