(Self) Collision avoidance with CasADi

[paumarquez]

Hello,

I used CasADi and Pinocchio for MPC in a project and I wanted to add self-collision avoidance using the collision meshes. Is there any way to symbolically define such conditions with CasADi and Pinocchio?

Thank you very much for your help.

Best regards,
Pau

[jcarpent]

Thanks Pau for your interesting question.

Unfortunately, this is not possible at the current stage as the Coal library is not templated by the Scalar type (here CasADi type). You can always use basic primitives that encapsulate objects and define the distance function manually.

Best regards,
Justin