sch-core

Documentation

Efficient implementation of GJK algorithm for proximity queries (collision detection, distance computations, penetration depths and witness points) between convex shapes.

The library can be extended to any convex shape for which we can compute the support function, but it already supports polyhedrons, boxes, spheres and ellipsoids, and it is particularly optimized for strictly convex hulls (SCH/STP-BV).

The implementation is detailed in:

@INPROCEEDINGS{benallegue:icra:2009,
  author={Benallegue, M. and Escande, A. and Miossec, S. and Kheddar, A.},
  booktitle={Robotics and Automation, 2009. ICRA '09. IEEE International Conference on},
  title={Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes},
  year={2009},
  month={May},
  pages={483-488},
  keywords={Application software;Assembly;Clouds;Computer graphics;Robotics and automation;Robots;Shape;Target tracking;Testing;Trajectory},
  doi={10.1109/ROBOT.2009.5152722},
  ISSN={1050-4729},
}

And a description of strictly convext hulls is detailed in:

@article{escande:itro:2014,
  author = {Adrien Escande and Sylvain Miossec and Mehdi Benallegue and Abderrahmane Kheddar},
  title = {A Strictly Convex Hull for Computing Proximity Distances with Continuous Gradients},
  journal={Robotics, IEEE Transactions on},
  year = {2014}
  month={June},
  volume={30},
  number={3},
  pages={666-678},
  keywords={Collision avoidance;Convergence;Optimization;Planning;Robots;Shape;Vectors;Bounding volume;continuous gradients of proximity distances;smooth and nonsmooth optimization;sphere-torus patches;strictly convex hulls},
  doi={10.1109/TRO.2013.2296332},
  ISSN={1552-3098},
  url = {https://sites.google.com/site/adrienescandehomepage/publications/2014_ITRO_Escande.pdf}
}

License

This library is provided under two licenses:

The GPL-v2 version is the most complete, it includes inter-penetration depth computation based on the SOLID code;
The BSD-2-Clause version does not include this algorithm;

Note: the two versions have the same API and ABI.

Installation

Ubuntu LTS (16.04, 18.04, 20.04)

Note: the packaged version is the BSD-2-Clause library, if you require inter-penetration depth computation, you should build the library yourself.

# Make sure you have required tools
sudo apt install apt-transport-https lsb-release
# Add our key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 892EA6EE273707C6495A6FB6220D644C64666806
# Add our repository (stable versions)
sudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-release $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'
# Use this to setup the HEAD version
# sudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-release $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'
# Update packages list
sudo apt update
# Install eigen-qld packages
sudo apt install libsch-core-dev

Homebrew OS X install

Install from the command line using Homebrew:

# install homebrew package manager
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# install caskroom application manager
brew install caskroom/cask/brew-cask
# tap homebrew-science package repository
brew tap homebrew/science
# tap ahundt-robotics repository
brew tap ahundt/robotics
# install tasks and all its dependencies
brew install sch-core

Manually build from source

Building using cmake:

git clone https://github.com/jrl-umi3218/sch-core.git --recursive
mkdir -p sch-core/build
cd sch-core/build
cmake .. # you probably want to define `CMAKE_INSTALL_PREFIX`
make
sudo make install

CMake options

SCH_BUILD_BSD: If ON, build the library without its GPL components (Default: OFF)

Indentation

astyle --style=allman --lineend=linux --indent=spaces=2 --indent-namespaces

oofrivia / sch-core