Collision

Todo:

Finish the collision page

The collision checker Kcd

The collision context methods

We have defined sevral methods to manipulate the collision pair.

The collision pairs

Function to manipulate directly the collision pair structure

The current collision pair management

Function to manipulate the current collision pair structure.

The collision contexts

Function to manipulate a collision context.

The collision contexts of the environment

Function to manipulate sevral collision pairs structure in the environment.

The test of collision for trajectory.