algorithm/geometry.hpp

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//
// Copyright (c) 2015-2022 CNRS INRIA
//
 
#ifndef __pinocchio_algo_geometry_hpp__
#define __pinocchio_algo_geometry_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/multibody/geometry.hpp"
 
#include "pinocchio/algorithm/kinematics.hpp"
 
namespace pinocchio
{
 
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename ConfigVectorType>
  inline void updateGeometryPlacements(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const GeometryModel & geom_model,
    GeometryData & geom_data,
    const Eigen::MatrixBase<ConfigVectorType> & q);
 
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  inline void updateGeometryPlacements(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const GeometryModel & geom_model,
    GeometryData & geom_data);
 
  inline void appendGeometryModel(GeometryModel & geom_model1, const GeometryModel & geom_model2);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/geometry.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/geometry.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
// In Pinocchio 2, this header declare computeCollision and computeDistances
#if defined(PINOCCHIO_WITH_HPP_FCL) && defined(PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2)
  #include "pinocchio/collision/collision.hpp"
  #include "pinocchio/collision/distance.hpp"
#endif // PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2
 
#endif // ifndef __pinocchio_algo_geometry_hpp__