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see also link to MPR |
images on the page refer to "CSO", which is never expanded to "configuration space obstacle" (even in the article on Minkowski addition) so I'm definition it here. Also since two objects intersect precisely when one point in object A can be subtracted from object B yielding the origin I think it makes more sense to use the term Minkowski difference like in Muratori's video. |
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The '''Gilbert–Johnson–Keerthi distance [[algorithm]]''' is a method of determining the minimum distance between two [[convex set]]s. Unlike many other distance algorithms, it does not require that the geometry data be stored in any specific format, but instead relies solely on a [[support function]] to iteratively generate closer [[simplex|simplices]] to the correct answer using the
"Enhanced GJK" algorithms use edge information to speed up the algorithm by following edges when looking for the next simplex. This improves performance substantially for polytopes with large numbers of vertices.
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