Function pinocchio::appendGeometryModel

Function Documentation

inline void pinocchio::appendGeometryModel(GeometryModel &geom_model1, const GeometryModel &geom_model2)

Append geom_model2 to geom_model1

The steps for appending are:

  • add GeometryObject of geom_model2 to geom_model1,

  • add the collision pairs of geom_model2 into geom_model1 (indexes are updated)

  • add all the collision pairs between geometry objects of geom_model1 and geom_model2. It is possible to ommit both data (an additional function signature is available which makes them optionnal), then inner/outer objects are not updated.

Todo:

This function is not asserted in unittest.

Note

Of course, the geom_data corresponding to geom_model1 will not be valid anymore, and should be updated (or more simply, re-created from the new setting of geom_model1).

Parameters:

  • geom_model1 – [out] geometry model where the data is added

  • geom_model2 – [in] geometry model from which new geometries are taken