The dpose_core library generates obstacle cost and the Jacobian of that cost for a polygonal footprint.
The dpose_goal_tolerance uses the data from dpose_core and implements a goal-tolerance feature as a gpp_plugin.
The dpose_core library generates obstacle cost and the Jacobian of that cost for a polygonal footprint.
The dpose_goal_tolerance uses the data from dpose_core and implements a goal-tolerance feature as a gpp_plugin.