Template Function pinocchio::computeCollisions(const int, const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const GeometryModel&, GeometryData&, const Eigen::MatrixBase<ConfigVectorType>&, const bool)

• Defined in File geometry.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
bool pinocchio::computeCollisions(const int num_threads, const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase<ConfigVectorType> &q, const bool stopAtFirstCollision = false)