5 #ifndef __pinocchio_algo_geometry_hpp__
6 #define __pinocchio_algo_geometry_hpp__
30 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
32 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
35 const Eigen::MatrixBase<ConfigVectorType> &
q);
47 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
49 const DataTpl<Scalar,Options,JointCollectionTpl> &
data,
61 template<
typename Vector3Like>
65 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3);
85 #ifdef PINOCCHIO_WITH_HPP_FCL
98 bool computeCollision(
const GeometryModel &
geom_model,
115 const bool stopAtFirstCollision =
false);
135 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
137 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
140 const Eigen::MatrixBase<ConfigVectorType> &
q,
141 const bool stopAtFirstCollision =
false);
154 fcl::DistanceResult & computeDistance(
const GeometryModel &
geom_model,
173 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
174 inline std::size_t computeDistances(
const ModelTpl<Scalar,Options,JointCollectionTpl> &
model,
175 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
178 const Eigen::MatrixBase<ConfigVectorType> &
q);
193 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
194 inline std::size_t computeDistances(
const ModelTpl<Scalar,Options,JointCollectionTpl> &
model,
195 const DataTpl<Scalar,Options,JointCollectionTpl> &
data,
208 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
209 inline void computeBodyRadius(
const ModelTpl<Scalar,Options,JointCollectionTpl> &
model,
212 #endif // PINOCCHIO_WITH_HPP_FCL
232 const GeometryModel & geom_model2);
237 #include "pinocchio/algorithm/geometry.hxx"
239 #endif // ifndef __pinocchio_algo_geometry_hpp__