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roboptim-capsule defines a C++ implementation of a minimum-volume capsule optimizer over a polyhedron or vector of polyhedrons.

A capsule is a geometric surface defined as the set of points lying at a fixed distance from a segment. It is a convex surface that can be very useful to give a simplified representation of robot bodies in motion planning and optimal control. However, it can be a non-trivial task to compute an "optimal" capsule that approximates best the underlying geometry, which is usually modeled by one or more polyhedrons.


A capsule can be uniquely defined by its two main axis end points $e_1$ and $e_2$, as well as its radius $r$. The roboptim-capsule optimizer takes as input one or more polyhedrons, and computes the minimum-volume capsule parameters, i.e. $e_1$, $e_2$, and $r$.

The package relies on:

To get basic knowledge about the library, you might want to check out the Quick start page.

Reporting bugs

As this package is still in its early development steps, bugs report and enhancement proposals are highly welcomed.

To report a bug, please go this package's web page.