Experimental project to learn a feasibility function, which directly relates two points in configuration space
Sub-projects: -- Read in a .tris file, consisting of triangles, and display it in RVIZ + doing collision checking with FCL -- Random walk sampling of feasible positions between two objects -- log time for distance checking, depending on distance between objects
FCL lib -- git://github.com/flexible-collision-library/fcl.git
Eigen
Boost 1.44+
Fann http://leenissen.dk/fann/wp/ (NN implementation for approximating feasibility function)
The usual path to a fresh build:
- mkdir build
- cd build
- cmake ..
- make
See also https://wiki.laas.fr/robots/MoCap and https://wiki.laas.fr/robots/FastReplanner