Template Function pinocchio::srdf::removeCollisionPairs

• Defined in File srdf.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
void pinocchio::srdf::removeCollisionPairs(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, GeometryModel &geom_model, const std::string &filename, const bool verbose = false)

Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incorrect.

Parameters:

• model – [in] Model of the kinematic tree.

• geom_model – [in] Model of the geometries.

• filename – [in] The complete path to the SRDF file.

• verbose – [in] Verbosity mode (print removed collision pairs and undefined link inside the model).