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Ran 12 Aug 2018 09:57PM UTC

Files 110

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Committed 12 Aug 2018 09:42PM UTC coverage: 72.423%. Remained the same

Job # BUILD_TYPE=Debug COVERALLS=ON

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push

travis-ci

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web-flow

Commit Message

Correct distance queries to report nearest point in world frame (#288)

* Distance queries return nearest points in the world frame

The DistanceResult struct documents the near points as being defined in the
*world* frame. This wasn't true in the code.

1. Correct both gjk solver implementations to put the pose in *world* frame.
2. Modify sphere-sphere and sphere-capsule custom implementations to do the
   same.
3. Fix some related typos in documentation.
4. Update tests to expect points in world frame.

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