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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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Optimize collision check by FCL for GeometryType.Container and GeometryType.Cage #1341

Closed yoshikikanemoto closed 7 months ago

yoshikikanemoto commented 7 months ago

@Puttichai found slowness of collision checking when a robot is fully inside a container. It turned out slowness came from the fact that OpenRAVE was always doing mesh-mesh collision checking. By using fcl::Container, OpenRAVE can generate GeometryType.Container and GeometryType.Cage in fcl space as a set of box primitives and speed up computation time of the collision checking. Observed computation time decreased by 50% on some examples.

tested on a real system and unit tests.

rdiankov commented 7 months ago

Thanks~

cielavenir commented 7 months ago

@rdiankov should this target be production branch?

yoshikikanemoto commented 7 months ago

@rdiankov should this target be production branch?

yes, i'll push to production branch

cielavenir commented 7 months ago

confirmed https://github.com/rdiankov/openrave/commits/production/ now!