Welcome to GPDMink’s documentation!

A Python implementation for GPDMink: gradient-parameterized deformable Minkowski sums between convex bodies with smooth bounding surface.

About

This package provides implementations for computing Minkowski sums using the gradient-parameterized deformable method described in:

“Gradient-parameterized deformable Minkowski sum with applications on contact detection” by Sipu Ruan and Jundong Mei in the journal Multibody System Dynamics.

• Article link: https://doi.org/10.1007/s11044-025-10134-5

• Supplimentary Video: https://static-content.springer.com/esm/art%3A10.1007%2Fs11044-025-10134-5/MediaObjects/11044_2025_10134_MOESM1_ESM.mp4

Key Features

• Compute Minkowski sums for convex bodies with smooth surfaces

• Support for linear transformations: rotation, shearing, scaling

• Support for nonlinear deformation capabilities: tapering, bending

• Answer collision detection queries between convex bodies

• Support for ellipsoids and superquadrics geometric models

Usage

See the demonstration scripts in the test/ directory:

• demo_minkowski_sum.py: Minkowski sums with linear and nonlinear deformations

• demo_superquadrics.py: Superquadrics with deformations

• demo_collision_detection.py: Collision detection between convex bodies

Contents:

• gpdmink
  • gpdmink package
  • setup module
• API Reference
  • NonlinearDeformation Module
  • Ellipsoid Module
  • SuperQuadrics Module
  • CollisionDetection Module
  • GeometryModel Module

Indices and tables

• Index

• Search Page