Quote:
Originally Posted by Taylor
I feel there may be some confusion regarding the term "BUMPER PERIMETER"
It is defined as the polygon created when you wrap a string around the robot in the horizontal plane to which the bumpers will be attached. The BUMPERS themselves are outside the BUMPER PERIMETER.
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I agree with your definition, for a detailed math explanation, many call the bumper perimeter the convex hull
http://en.wikipedia.org/wiki/Convex_hull