Collision Detection

Collision geometry meshes, collision avoidance and clearance

Collision geometries define the physical space occupied by robots and their environments. To represent robot parts or obstacles in the environment, create collision objects like boxes, cylinders, spheres, or custom meshes. Use checkCollision to determine if different parts of a manipulator arm collide with each other (self-collisions) or with things in the world while executing trajectories. The function also gives obstacle clearance to anticipate and avoid collisions.

Functions

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Rigid Body Trees

`capsuleApproximation`	Approximate collision geometries of rigid body tree with capsules
`checkCollision`	Check if robot is in collision
`addCollision`	Add collision geometry to rigid body
`clearCollision`	Clear all attached collision geometries

Collision Objects

`checkCollision`	Check if two geometries are in collision
`collisionBox`	Create box collision geometry
`collisionCapsule`	Capsule primitive collision geometry
`collisionCylinder`	Create collision cylinder geometry
`collisionMesh`	Create convex mesh collision geometry
`collisionSphere`	Create sphere collision geometry

Topics

Check for Manipulator Self Collisions Using Collision Meshes
This example shows how to check for manipulator self-collisions when executing a trajectory.
Check for Environmental Collisions with Manipulators
Generate a collision-free trajectory in a constrained workspace.
Obtain Collision Data for Manipulator Collision Checking
This example shows three ways to obtain a rigidBodyTree model with collision data.
Reduce Motion Planning Times Using Capsule Approximation
This example shows how to approximate the collision geometries of a rigid body tree using a capsuleApproximation object and then perform motion planning with a manipulatorRRT object.