Template Function pinocchio::updateGeometryPlacements(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const GeometryModel&, GeometryData&)

• Defined in File geometry.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline void pinocchio::updateGeometryPlacements(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const GeometryModel &geom_model, GeometryData &geom_data)

Update the placement of the geometry objects according to the current joint placements contained in data.

Template Parameters:

JointCollection – Collection of Joint types.

Parameters:

• model – [in] The model structure of the rigid body system.

• data – [in] The data structure of the rigid body system.

• geom_model – [in] The geometry model containing the collision objects.

• geom_data – [out] The geometry data containing the placements of the collision objects. See oMg field in GeometryData.