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Estimate Robot Geometry using Ellipsoids and Control Points for smooth WBV Repulsion - #42

Merged

Sharwin24 merged 15 commits into

mainfrom

cleanup-before-ros-release

Apr 5, 2026

Merged

Estimate Robot Geometry using Ellipsoids and Control Points for smooth WBV Repulsion#42
Sharwin24 merged 15 commits into
mainfrom
cleanup-before-ros-release

Commits on Mar 25, 2026
- Ignore CLAUDE
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  20d519e
- Ignore NOTES
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  698224a
- Bring back plotting script
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  46f4029
- Initial Ellipsoid implementation and approximation for robot geometry
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  15ca8a9
Commits on Mar 31, 2026
- Tried new ellipsoid implementation
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  808d4a9
- Visualize Control Points
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  46df8cb
Commits on Apr 2, 2026
- Add ObstacleGeometry abstract class hierarchy
  
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  claude
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  9f98ba8
- Refactor PotentialFieldObstacle to use ObstacleGeometry hierarchy
  
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- Extract capsuleGeometryFromMesh into PFKinematics private helper
  
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  d351519
- Promote buildControlPoints to public static method on PotentialField
  
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  ae40531
- Split createObstacleMarkers into three focused helper methods
  
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  305f9cb
- Update tests for ObstacleGeometry hierarchy and typed constructors
  
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  claude
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  80ca7d6
Commits on Apr 5, 2026
- Moved prototyping outside
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  90a35f1
- Make pf_lib a ament_cmake build type
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  6bcf634
- Deleted all changelogs
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  0521525