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Humanoid Path Planner
hpp-fcl
Commits
3a574ad3
Verified
Commit
3a574ad3
authored
Jun 09, 2021
by
Justin Carpentier
Browse files
collision: sphere/sphere fix distance lower bound value
parent
018425e9
Pipeline
#14896
passed with stage
in 27 minutes and 31 seconds
Changes
1
Pipelines
1
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src/distance/sphere_sphere.cpp
View file @
3a574ad3
...
...
@@ -121,7 +121,7 @@ namespace fcl {
unit
=
c1c2
/
dist
;
// Unlike in distance computation, we consider the security margin.
FCL_REAL
penetrationDepth
=
r1
+
r2
+
margin
-
dist
;
result
.
updateDistanceLowerBound
(
-
penetrationDepth
);
result
.
updateDistanceLowerBound
(
-
penetrationDepth
+
margin
);
bool
collision
=
(
penetrationDepth
>=
0
);
if
(
collision
)
{
// Take contact point at the middle of intersection between each sphere
...
...
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