Advait,
Given the current APIs it's not possible. I was considering modifying the
collision space API to produce this information, and I'll probably get
around to it reasonably soon but it's not a high priority. Note that you
shouldn't trust the current markers to give you all the links that are in
collision - it will really only give you the first link it found that's in
collision. If you a file a feature request ticket I'll modify the ticket
when it's ready to go. And we would of course welcome a patch if you decide
to do it yourself.
--Gil
--
E. Gil Jones (
gjones@willowgarage.com)
Research Engineer
Willow Garage, Inc.
68 Willow Road
Menlo Park, CA 94025
650.475.9772
On Thu, Jan 20, 2011 at 5:37 PM, Advait Jain <
advait@cc.gatech.edu> wrote:
> I am interested in getting the locations of all the contacts between
> the arm (in its current configuration) and the environment.
>
> The environment_server node of the planning_environment package almost
> does the job but it publishes each contact point as a separate Marker.
>
> It would be really helpful for me if there were a way to get the
> entire collision state in one shot. Is this a possibility?
>
> Thanks again,
> Advait
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