Add support for scaling/padding each link differently

peci1 / robot_body_filter

Filters the robot's body out of point clouds and laser scans.

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

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Add support for scaling/padding each link differently #14

Closed peci1 closed 3 years ago

peci1 commented 3 years ago

This PR allows to set custom scale/padding for each collision or link. These can even differ based on the usage of the model, e.g. different scaling for contains test and a different one for shadow test. More info in readme.

peci1 commented 3 years ago

Tested on real Nifti robot (LaserScan type) and on MARV in SubT simulator (PointCloud2 type). Filtering seems to be unaffected. All tests pass.