The Configuration Space Toolkit (CSTK or C-Space Toolkit) provides a software library that makes it easier to program motion planning, simulation, robotics, and virtual reality codes. Originally designed specifically to support the Configuration Space abstraction, the CSTK enables the user to specially create representations of movable and stationary rigid 3D geometric objects; it also performs fast-distance interference (clash) detection, collision detection, closest-feature pairs, and contact queries in terms of object configuration. Not only can queries be computed at any given point in configuration space, but they can be done exactly over linear-translational path segments and approximately for rotational path segments. (See “Implicit Convex-Hull Distance of Finite-Screw-Swept Volumes” from the 2002 IEEE International Conference on Robotics and Automation.) The CSTK is included with Umbra distributions.
