Quantcast

2d footprint of KinBody and Robot

classic Classic list List threaded Threaded
2 messages Options
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

2d footprint of KinBody and Robot

dvizye
This post has NOT been accepted by the mailing list yet.
What is the easiest way obtain a 2-D footprint of a KinBody and Robot, for example as shown in Fig 3 in this paper: http://www.cs.cmu.edu/~maxim/files/planfor3Dnav_icra12.pdf? I haven't found an obvious solution for calculating this yet, and would appreciate the help!
Reply | Threaded
Open this post in threaded view
|  
Report Content as Inappropriate

Re: 2d footprint of KinBody and Robot

benersuay
This post has NOT been accepted by the mailing list yet.
Hi dvizye,

I think what you want is the support polygon of the robot (i.e. 2D convex hull of the base link(s)). You can use the CBiRRT OpenRAVE plugin that comes with CoMPS (see here and here for info) and call the CBirrtProblem::GetSupportPolygon method.

To look at the implementation see line 1215 here

Hope this helps,
Ben
Loading...