tesseract
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tesseract-robotics
Motion Planning Environment
The puzzle piece examples had to be set to use BMPD solver to avoid the unit test timeout. This may be a result of the everything being built in debug...
There appears to be a bug in the octomap library that causes a segfault for various cases. ``` tesseract_examples_basic_cartesian_example: /build/octomap-KdBKXz/octomap-1.9.3+dfsg/octomap/include/octomap/OcTreeDataNode.hxx:69: octomap::OcTreeDataNode::~OcTreeDataNode() [with T = float]: Assertion `children == NULL' failed....
This cuts the build time from 4 minutes and 30 seconds to 2 minutes and 45 seconds.
This adds [HPP-FCL](https://github.com/humanoid-path-planner/hpp-fcl), the improved fork of [FCL](https://github.com/flexible-collision-library/fcl), as a collision checker. Notable features: - (Claimed) Improved performance - [State of the art GJK collision checking](https://arxiv.org/abs/2205.09663) - Safety margins, lower...
I configured pre-commit and adjusted the GitHub Action to run instead of the shell scripts for code formatting. pre-commit offers many more checks so quite a few changes are suggested....
I'm working with a surface mesh that I turn into an octree (sphere outside type) for motion planning collision detection, and I noticed some strange behavior in the visual representation...
At file: trajopt_sqp\types.h ``` enum class CostPenaltyType { SQUARED, ABSOLUTE, // conflict with macro defined in #include HINGE }; // ... double best_exact_merit{ std::numeric_limits::max() }; // conflict with macro defined...
Currently the search path of GeneralResourceLocator can only be set using an environmental variable. Add functions to allow the path also be configured using the API.
glTF2 is a portable 3D model format that is supported by most modern renderers including Three.js, QT, Unity, etc. The format is fairly simple, and I implemented a utility in...