Checks for collisions and assigns a non zero cost when the robot is in collision at a given timestep. In addition to that, it propagates the cost of trajectory points in collision to adjacent points that may be collision free. This approach allows for a better evaluation of a trajectory as a whole. The parameters are as follow:

- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05

Author(s): Jorge Nicho
autogenerated on Fri May 8 2020 03:35:47