  Collision evaluation is of vital importance in various applications. However,
existing methods are either cumbersome to calculate or have a gap with the
actual value. In this paper, we propose a zero-gap whole-body collision
evaluation which can be formulated as a low dimensional linear program. This
evaluation can be solved analytically in O(m) computational time, where m is
the total number of the linear inequalities in this linear program. Moreover,
the proposed method is efficient in obtaining its gradient, making it easy to
apply to optimization-based applications.
