libmove3d Documentation

libmove3d is a library for geometrical reasoning and motion planning (OVERVIEW). It itegrates OpenGl primitives to display a 3D scene of the internal state and a file format called p3d to load the scene. The configuration space representation is the core feature of the library, the idea inside libmove3d is to divide the world between movable articulated objects (p3d_rob) and static objects (p3d_obj) (FEATURES). The software provides collision checking, localpath and trajectory strucutres and a large variaty of kinematic constraints.

The piano mover's problem instantiated in libmove3d using closed-chain kinematic constraints

The environment description

• the objects .
• the joints .
• the robots .
• The file description commands

Collisions

The collision detection is an important part of Move3D. Sevral aspects are present in these sections:

• Collision checker:
  • Kcd
  • Vcollide
• Distances computation
  • BB
  • Kcd
• Selection of collision paires
  • The collision pairs
  • The current collision pair management
  • The collision contexts
  • The collision contexts of the environment
• Trajectory collision