How can I find the intersection between a line and a robot?

Given the urdf robot model, which function can I use to find the intersection point with a specific link of that robot. I tried with checkCollision but it is for the collision with objects.

Answer 1

[Karsh Tharyani]

Hi,

You could try using the https://www.mathworks.com/help/robotics/ref/rigidbodytree.checkcollision.html "rigidBodyTree/checkCollision" function to find collisions on a rigid body. Given the URDF, you can use "importrobot" https://www.mathworks.com/help/robotics/ref/importrobot.html to create a rigid body tree, and then call the "checkCollision" function on it.

Best,

Karsh