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A ROS wrapper for implementing convex decomposition

License: BSD 3-Clause "New" or "Revised" License

CMake 5.94% C++ 94.06%

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pitt-ras yugo1103 yash508oza lijuncheng001 justwillim mors25 nrkumar93 gprathap taec1227 wangdongnwpu yuwei-wu quantum-entropy buaanhy ruanpe jzhyang1213 valeriangcz sigmalex caodong-street tanjinscu nmboyd lmx-byte alonzhao gchasing ryanesx xxje-library ethanxu-tab xiongzuming zxx01 yunwoolee94 hjw08 tianchen-sun zhthree3 surepay123456 zdctryto personal-fork-robot wzmbeijing uavlover mengxingshifen1218 cheungsiupaang ciaranz chliwang

decompros's Issues

Speeding up convex decomposition

Hi,

One quick question: I've tried test_path_decomp_3d.cpp and it takes ~1305 ms to do the convex decomposition (with the example environment provided). test_path_decomp_2d.cpp takes 944 ms.
Is there a way to speed this up? I'd like to achieve runtimes < 10 ms

Thanks a lot!

Computing maximum encompassing ellipsoid

Hi,

Once I obtain the polyhedron using a seed point, is there any support from the library to compute the maximum encompassing ellipsoid lying inside the polyhedron?

I figured that there is support for generating an ellipsoid around a "path", but what I am looking for is something like this - https://github.com/rdeits/iris-distro

Thanks,
Yash