RobotLocomotion/drake — pull request #105 by avalenzu (2014-04-29 20:28:45+00:00)
Title: Add `allCollisions` method for fast collision checks

This pull-request adds the `allCollisions` method to `RigidBodyManipulator`. This method uses Bullet's collision checking (including their broad-phase) to give a fast report of all points of collision in the manipulator. One probably shouldn't use this inside any optimization routines - it returns a variable number of points and has not been checked for numerical differentiability.