Collision residual#264
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ManifoldFR merged 10 commits intoSimple-Robotics:develfrom Jan 17, 2025
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Co-authored-by: Wilson <wilson.jallet@polytechnique.org>
Co-authored-by: Wilson <wilson.jallet@polytechnique.org>
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This PR adds a pair collision residual and a relaxed log-barrier function to perform collision avoidance between two convex geometric objects. The formulation of the relaxed log-barrier function is taken from https://arxiv.org/pdf/1905.06144.