HPP-FCL — An extension of the Flexible Collision Library

This project is initially a fork from https://github.com/flexible-collision-library/fcl and has evolved since then. The main new features are:

• the use of a safety margin when detecting collision,
• the computation of a lower bound of the distance between two objects when collision checking is performed and no collision is found.
• the implementation of Python bindings for easy code prototyping.
• the fix of various bugs.

This project is now used in many robotics frameworks such as Pinocchio, an open-source software which implements efficient and versatile rigid body dynamics algorithms and the Humanoid Path Planner, an open-source software for Motion and Manipulation Planning.

Acknowledgments

The development of HPP-FCL is actively supported by the Gepetto team @LAAS-CNRS and the Willow team @INRIA.