RSDK-10392 remove magic numbers from point cloud collision check #4896
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| case *point: | ||
| return pt.almostEqual(other), nil | ||
| return pt.position.Sub(other.position).Norm() <= collisionBufferMM, nil |
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Oops discovered some bugs
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motionplan/constraint.go
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| @@ -414,27 +414,6 @@ func NewLineConstraint(pt1, pt2 r3.Vector, tolerance float64) (StateConstraint, | |||
| return validFunc, gradFunc | |||
| } | |||
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| // NewOctreeCollisionConstraint takes an octree and will return a constraint that checks whether any geometries | |||
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This just isn't used anymore. Would like to cut down on the LOC
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We already expose a buffer variable this just makes it so there aren't two variables, one of which cannot be changed
Edit: I should note that getting rid of this does have implications for collisions for 2D motion. We should probably be updating the collisionBuffer for that case along with the rest of the changes here