Estimate Robot Geometry using Ellipsoids and Control Points for smooth WBV Repulsion#42

Merged

Sharwin24 merged 15 commits intomainfrom

cleanup-before-ros-release

Apr 5, 2026

Commits on Mar 31, 2026

Commits on Apr 2, 2026

Add ObstacleGeometry abstract class hierarchy

Sharwin24
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claude
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Refactor PotentialFieldObstacle to use ObstacleGeometry hierarchy

Sharwin24
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claude
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Extract capsuleGeometryFromMesh into PFKinematics private helper

Sharwin24
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claude
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Promote buildControlPoints to public static method on PotentialField

Sharwin24
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claude
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Split createObstacleMarkers into three focused helper methods

Sharwin24
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claude
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Update tests for ObstacleGeometry hierarchy and typed constructors

Sharwin24
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claude
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Commits on Apr 5, 2026