My Contribution Highlights

• Implemented and licensed an C++ incremental convexhull algorithm from chapter 4 of Computational Geometry in C by O’Rourke
• Implemented ROS demonstration code for easy robot integration

More About the Project

This project was developed to support an underground robot explortation work. The convexhulls were used to represent collision-free space in registered LIDAR pointclouds. I have implmented the convexhull algorithm with a class of easy-to-use API, that would support any vector of objects with xyz fields. Please visit my repository for more info.