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23 template<
typename,
int>
24 class JointCollectionTpl,
25 typename ConfigVectorType>
31 const Eigen::MatrixBase<ConfigVectorType> &
q)
38 using namespace Eigen;
40 bp::register_ptr_to_python<std::shared_ptr<hpp::fcl::CollisionGeometry const>>();
42 bp::class_<ComputeCollision>(
43 "ComputeCollision",
"Collision function between two geometry objects.\n\n", bp::no_init)
47 bp::class_<ComputeDistance>(
48 "ComputeDistance",
"Distance function between two geometry objects.\n\n", bp::no_init)
57 bp::args(
"geometry_model",
"geometry_data",
"pair_index",
"collision_request"),
58 "Check if the collision objects of a collision pair for a given Geometry Model and "
59 "Data are in collision.\n"
60 "The collision pair is given by the two index of the collision objects.");
66 bp::args(
"geometry_model",
"geometry_data",
"pair_index"),
67 "Check if the collision objects of a collision pair for a given Geometry Model and "
68 "Data are in collision.\n"
69 "The collision pair is given by the two index of the collision objects.");
74 (bp::arg(
"geometry_model"), bp::arg(
"geometry_data"),
75 bp::arg(
"stop_at_first_collision") =
false),
76 "Determine if all collision pairs are effectively in collision or not.");
79 "computeCollisions", &computeCollisions<double, 0, JointCollectionDefaultTpl, VectorXd>,
80 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"geometry_model"), bp::arg(
"geometry_data"),
81 bp::arg(
"q"), bp::arg(
"stop_at_first_collision") =
false),
82 "Update the geometry for a given configuration and "
83 "determine if all collision pairs are effectively in collision or not.");
87 bp::args(
"geometry_model",
"geometry_data",
"pair_index"),
88 "Compute the distance between the two geometry objects of a given collision pair for "
89 "a GeometryModel and associated GeometryData.",
90 bp::with_custodian_and_ward_postcall<
91 0, 2, bp::return_value_policy<bp::reference_existing_object>>());
96 bp::args(
"geometry_model",
"geometry_data"),
97 "Compute the distance between each collision pair for a given GeometryModel and "
98 "associated GeometryData.");
101 "computeDistances", &computeDistances_proxy<double, 0, JointCollectionDefaultTpl, VectorXd>,
102 bp::args(
"model",
"data",
"geometry_model",
"geometry_data",
"q"),
103 "Update the geometry for a given configuration and "
104 "compute the distance between each collision pair");
107 "computeBodyRadius", &computeBodyRadius<double, 0, JointCollectionDefaultTpl>,
108 bp::args(
"model",
"geometry_model",
"geometry_data"),
109 "Compute the radius of the geometry volumes attached to every joints.");
bool computeCollisions(BroadPhaseManagerBase< BroadPhaseManagerDerived > &broadphase_manager, CollisionCallBackBase *callback)
Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeome...
fcl::DistanceResult & computeDistance(const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id)
Compute the minimal distance between collision objects of a SINGLE collison pair.
bool computeCollision(const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id, fcl::CollisionRequest &collision_request)
Compute the collision status between a SINGLE collision pair. The result is store in the collisionRes...
static std::size_t computeDistances_proxy(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
std::size_t computeDistances(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)
static void expose(const std::string &class_name, const std::string &doc_string="")
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Wed Jun 19 2024 02:41:13