#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/data.hpp"#include "pinocchio/multibody/geometry.hpp"#include "pinocchio/collision/config.hpp"#include <hpp/fcl/collision_data.h>#include "pinocchio/collision/collision.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | pinocchio::computeBodyRadius (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, GeometryData &geom_data) |
| bool | pinocchio::computeCollision (const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id) |
| Compute the collision status between a SINGLE collision pair. The result is store in the collisionResults vector. More... | |
| bool | pinocchio::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 collisionResults vector. More... | |
| bool | pinocchio::computeCollisions (const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false) |
| Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements has been called first. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > | |
| bool | pinocchio::computeCollisions (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool stopAtFirstCollision=false) |