Journal of Robotics / 2011 / Article / Alg 1

Research Article

Advanced Methods for Robot-Environment Interaction towards an Industrial Robot Aware of Its Volume

Algorithm 1

for each i
if ( )
  if ( ) return (DISJOINT);
   ;
else if ( )
  if ( ) return (DISJOINT);
   ;
if ( ) return(DISJOINT);
return(OVERLAP);

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