Collision Detection framework was initiated and is currently developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI) in Bremen,
A framework for handling collision detection. This framework contains the following collision library: fcl. The aim of this framework is to offer the user to use different types collision libraries by just changing the configuration.
The current version uses only FCL
The easiest way to build and install this package is to use Rock's build system. See this page on how to install Rock.
However, if you feel that it's too heavy for your needs, Rock aims at having most of its "library" packages (such as this one) to follow best practices. See this page for installation instructions outside of Rock.