How to compute the direction to the closest environment?

Issue #42 duplicate
Shuo Liu
created an issue

The clearance function in StateValidityChecker class only returns the distance to the nearest invalid state or check whether a direction is valid. But how to compute the direction to the nearest invalid state? I also didn't find it in the FCL and PQP collision checking libraries. Thx.

Comments (3)

  1. Mark Moll

    It appears that this functionality is missing at the moment. If FCL and PQP don't have a function for that, then you may have to find the direction numerically/approximately by computing the gradient of the clearance.

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