Function roboplan::hasCollisionsAlongPath

Function Documentation

bool roboplan::hasCollisionsAlongPath(const Scene &scene, const Eigen::VectorXd &q_start, const Eigen::VectorXd &q_end, const double max_step_size, const bool bisection = false)

Checks collisions along a specified configuration space path.

Parameters:

  • scene – The scene to use for interpolating positions and checking collisions.

  • q_start – The starting joint positions.

  • q_end – The ending joint positions.

  • max_step_size – The maximum configuration distance step size for interpolation.

  • bisection – If True, uses bisection instead of linear search. Bisection could help find collisions faster in collision-dense environments, but is slower in the worst-case scenario since it requires a number of samples that is a power of 2 to guarantee maximum distance between points.

Returns:

True if there are collisions, else false.