Terminology: collision_margin and collision_margin_buffer

[rjoomen]

I was reading the original Trajopt paper, and for collision checking they talk about d_safe and d_check.

My understanding is that in this implementation, d_safe ≡ collision_margin and d_check ≡ collision_margin + collision_margin_buffer, is that correct?

[Levi-Armstrong]

It is interesting that the paper mentions it but the original implementation did not have it because I added the buffer due to stability issues, but to answer your question your understanding is correct. This is so you still have an equation in the optimization when just outside the contact margin.

[rjoomen]

Strange. Or was maybe this the old implementation of a buffer?

[Levi-Armstrong]

Yea, that may have been it.