Collision check

neil

I am using the RS collision detection functionality in a path planning problem. Collision-free configurations are generated in the working space and each configuration is joined to create a path. The collision detection events are used to determine the collision-free configurations and paths.

At the moment, an event is raised for each collision event (CollisionStarted and CollisionEnded). To check whether a configuration is collision-free, I count the number of CollisionStarted and CollisionEnded events (because a collision event is raised for each robot link specified in the collision set)


    int[] count = new int[2];
    count[0] = no of CollisionStarted events
    count[1] = no of CollisionEnded events
    if(count[0] == count[1])
    {
        //configuration is collision free
    }
    else
    {
        //configuration is not collision free
    }



My problem/query is this:



I am looking for a simplified version of the collision detector as the above logic causes some ambiguities when used for checking the path between 2 collision-free configurations.


I am only interested in if the collision is TRUE or FALSE.

If any CollisionStarted event is raised, then:
    bool collision = TRUE;
If there are no collision events raised, then:
    bool collision = FALSE

Is this possible to achieve with the present collision detector?

Thanks in advance,
Neil





neil2008-8-7 10:58:12

Henrik Berlin

Hi Neil,

Have you tried to create an event sink for the CollisionStarted event that sets your boolean flag to TRUE. If there has not been any collision, then the boolean will be FALSE if you define that as the initial value?