[planning] Fast continuous collision checking for polynomial cspace trajectories - #24924

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wernerpe wants to merge 22 commits into

RobotLocomotion:masterfrom

wernerpe:certified-ccd

Commits on Aug 27, 2026

[planning] Add certified_ccd: curve normalization
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fdd416b
[planning] Add certified_ccd: kinematic motion bounds
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0268bbb
[planning] Add certified_ccd: the distance oracle
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78fffff
[planning] Add certified_ccd: the interval certifier
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4f76169
[planning] Add certified_ccd: CertifiedContinuousCollisionChecker
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85ba3db
[planning] Add certified_ccd: benchmark suite
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c1b3f2a
[planning] certified_ccd: reject negative effective thresholds
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efe7077
[planning] certified_ccd: charge carved-coordinate residual motion
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39801a1
[planning] Rename certified_ccd to continuous_collision
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556b74a
[planning] continuous_collision: apply style and API review fixes
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7dec93a
[planning] continuous_collision: use call-scoped parallel workers
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e67dc92
[planning] continuous_collision: fit tests to CI budgets across build flavors
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ce3f8c1
[bindings] Add pydrake bindings for planning continuous_collision
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1c675b7
[planning] continuous_collision: adapt to current Drake master
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65c8b6a
[planning] continuous_collision: revise comments to Drake conventions
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9134267

Commits on Aug 31, 2026

[planning] continuous_collision: fix CI (installed headers, clang warnings, dbg timeout)
wernerpe
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a3d5a79

Commits on Sep 3, 2026