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yijiangh / choreo

Choreo: robotic motion planning platform for discrete architectural assembly
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query connected elements to specific node in partial geometry #35

Closed yijiangh closed 6 years ago

yijiangh commented 7 years ago

collision objects might need a half-edge data structure similar to wire_frame in framefab. This enables collecting all connected edges to a node.

yijiangh commented 6 years ago

Maybe not needed. Just backcount from the last joint pose, do FK to obtain the EEF pose, compute the distance between the pose to process start pose and we end the backcounting with the first joint pose that leads to a distance bigger than user-defined tolerance.

yijiangh commented 6 years ago

Checking our method in grasshopper file might be helpful for this. @lock794779857

yijiangh commented 6 years ago

Closing this issue to focus discussion in #69 .