How to deal with Continuous Collision Detection?

[joao-pm-santos96]

Hi guys!
I have a quick question, does pinocchio offer Continuous Collision Detection capabilities?
If not, how do you suggest we approach this matter?
Thank you!

[florent-lamiraux]

Hello @joao-pm-santos96 .
Continuous collision detection is implemented in HPP https://humanoid-path-planner.github.io/hpp-doc/, a path planning library built on top of pinocchio.

[joao-pm-santos96]

Awesome! But I can't find it... can you please point me to an example or documentation page?

[florent-lamiraux]

Following the link provided above, click on "get started now" and choose which installation you prefer binary packages (ubuntu) or compilation from source. Then there is a package hpp_tutorial that you can install to start.