support :fat in :self-collision-check

[garaemon]

1. add parameter to change :fat
2. re-generate pqp-model if different :fat parameter is provided

[snozawa]

You can generate pqp collision model like this:

26.irteusgl$ (send-all (send *hrp2jsknt* :links) :put :pqpmodel nil) ;; remove old collision model
(nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil nil)
27.irteusgl$ (send *hrp2jsknt* :make-collision-model-for-links :fat 2) ;; add fat argument
nil

[garaemon]

is it possible to have API like this?

(send *robot* :self-collision-check :fat 0.01)

[snozawa]

Hmm,,, it is possible but difficult, because we need to change many parts for this.

Currently, all euslisp collision functions and methods initialize pqp collision model just once:
https://github.com/euslisp/jskeus/blob/master/irteus/pqp.l#L83
After that, pqp model is not assumed to be changed by default.

So, if you want to change fat, it is preferable to remove old pqp model explicitly.

[k-okada]

if we call pqp-collision-distance instead of pqp-collision-check at

jskeus/irteus/irtmodel.l

Line 2408 in 33c254f

(let ((colp (/= (funcall collision-func (car p) (cdr p)) 0)))

(and check the distance)
it could be possible.

In this case, if we already create pqp-link with fat != 0, then the result is not accurate, so we basically use :fat 0 and check idstance at :self-collision-check