15 using namespace Eigen;
17 bp::def(
"updateGeometryPlacements",
18 &updateGeometryPlacements<double,0,JointCollectionDefaultTpl,VectorXd>,
19 bp::args(
"model",
"data",
"geometry_model",
"geometry_data",
"q"),
20 "Update the placement of the collision objects according to the current configuration.\n"
21 "The algorithm also updates the current placement of the joint in Data."
24 bp::def(
"updateGeometryPlacements",
25 &updateGeometryPlacements<double,0,JointCollectionDefaultTpl>,
26 bp::args(
"model",
"data",
"geometry_model",
"geometry_data"),
27 "Update the placement of the collision objects according to the current joint placement stored in data."
30 #ifdef PINOCCHIO_WITH_HPP_FCL
31 bp::def(
"computeCollision",computeCollision,
32 bp::args(
"geometry_model",
"geometry_data",
"pair_index"),
33 "Check if the collision objects of a collision pair for a given Geometry Model and Data are in collision.\n"
34 "The collision pair is given by the two index of the collision objects."
37 bp::def(
"computeCollisions",
39 bp::args(
"geometry_model",
"geometry_data",
"stop_at_first_collision"),
40 "Determine if collision pairs are effectively in collision."
43 bp::def(
"computeCollisions",
44 &computeCollisions<double,0,JointCollectionDefaultTpl,VectorXd>,
45 bp::args(
"model",
"data",
"geometry_model",
"geometry_data",
"q",
"stop_at_first_collision"),
46 "Update the geometry for a given configuration and "
47 "determine if all collision pairs are effectively in collision or not."
50 bp::def(
"computeDistance",&computeDistance,
51 bp::args(
"geometry_model",
"geometry_data",
"pair_index"),
52 "Compute the distance between the two geometry objects of a given collision pair for a GeometryModel and associated GeometryData.",
53 bp::with_custodian_and_ward_postcall<0,2,bp::return_value_policy<bp::reference_existing_object> >()
56 bp::def(
"computeDistances",
58 bp::args(
"geometry_model",
"geometry_data"),
59 "Compute the distance between each collision pair for a given GeometryModel and associated GeometryData."
62 bp::def(
"computeDistances",
63 &computeDistances<double,0,JointCollectionDefaultTpl,VectorXd>,
64 bp::args(
"model",
"data",
"geometry_model",
"geometry_data",
"q"),
65 "Update the geometry for a given configuration and "
66 "compute the distance between each collision pair"
69 bp::def(
"computeBodyRadius",
70 &computeBodyRadius<double,0,JointCollectionDefaultTpl>,
71 bp::args(
"model",
"geometry_model",
"geometry_data"),
72 "Compute the radius of the geometry volumes attached to every joints.");
73 #endif // PINOCCHIO_WITH_HPP_FCL