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Issue #41 resolved

Problem with computing State clearance direction

Anonymous created an issue

Hi, I want to calculate the direction of the "clearance" for each state, which is the direction to the closest collision in the environment. Is there a way I can do it?

Comments (5)

  1. Mark Moll

    The omplapp library provides integration with the FCL and PQP collision checking libraries. The corresponding StateValidityChecker-derived classes compute the clearance.

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