Proximity Query (PQ) is a process to calculate the relative placement of objects. It is a critical task for many applications such as robot motion planning, particularly those involving human-robot collaborative control. This program computes a PQ formulation which can support non-convex objects represented by meshes or cloud points.
Compile:
make
Debug:
make debug
Run test case:
make run
Feb 2013
- Support Openmp for parallel acceleration
Jan 2013
pq.cpp
- Port to C++
- CPU only
- Polar form only
- Need modified data file
- MAX_NUM_POINTS 1409232
Oct 2012
pq_all.c
- Added three modes
- Added pq_server and client
- Original data files need to be modified
June 2012
pq_polar.c
- Added polar form
April 2012
pq.c
- Original contour form version with cpu and gpu definitions