Commits
Robert Griffin committed 080c6d6236bM
Merge pull request #2277 in LIBS/ihmc-open-robotics-software from feature/collision_free_swing to develop * commit 'd04731adf7df858fad1c4aac875242c1dbbd08a8': fixed some compile errors in tests fixed format fixed an if-else statement removed unused imports removed some duplicated code fixed some of the logic when sending the footstep plans added some model tools, and started showing a polygon when rendering a custom foothold started only updating the swing when the plan is updated. improved the efficiency of the collision detector added some other fields for look and step planning with the height map added using the height map for the footstep planner in look and step got the swing checking to be asynchronous got the swing planning module to be used in the interactable footstep plan better. Still need to figure out how to make this asynchronous, though. got the collisions and everything working for the interactable plan set up a swing planner inside the interactable plan cleaned up the way poses in the interactable footsteps a lot started adding the ability to do collision detection with the height map