Siddharth Deore siddharthdeore

Gilbert–Johnson–Keerthi (GJK) 3D distance algorithm

The Gilbert–Johnson–Keerthi (GJK) distance algorithm is a method of determining the minimum distance between two convex sets. The algorithm's stability, speed which operates in near-constant time, and small storage footprint make it popular for realtime collision detection.

Unlike many other distance algorithms, it has no requirments on geometry data to be stored in any specific format, but instead relies solely on a support function to iteratively generate closer simplices to the correct answer using the Minkowski sum (CSO) of two convex shapes.

Gilbert–Johnson–Keerthi (GJK) 3D distance algorithm

The Gilbert–Johnson–Keerthi (GJK) distance algorithm is a method of determining the minimum distance between two convex sets. The algorithm's stability, speed which operates in near-constant time, and small storage footprint make it popular for realtime collision detection.

Unlike many other distance algorithms, it has no requirments on geometry data to be stored in any specific format, but instead relies solely on a support function to iteratively generate closer simplices to the correct answer using the Minkowski sum (CSO) of two convex shapes.

	/*
	* This application tests whether an ethernet port can correctly send and receive
	* data with both PACKET_TX_RING and PACKET_RX_RING enabled.
	*
	* This application uses EtherCAT packets and is intended to communicate with an EtherCAT slave device
	* connected to the eth0 port. This core problem looks to be unrelated to the use of EtherCAT; it's just
	* that communicating with a single device that echos (or almost echos) data is easier to write a test for.
	*
	* The test contains 2 sub-tests:
	* (1) Send and receive data using PACKET_RX_RING but without PACKET_TX_RING. (named 'Tx-Send' in the test output)

	#!/usr/bin/env python
	"""
	Given a URDF given by either
	1) param server /robot_description
	2) as an argument

	Generate all the MoveIt! SRDF
	disable collision lines between adjacent
	links and links without collision mesh.