collision/collision.hpp

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//
// Copyright (c) 2015-2021 CNRS INRIA
//
 
#ifndef __pinocchio_collision_collision_hpp__
#define __pinocchio_collision_collision_hpp__
 
#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>
 
namespace pinocchio
{
 
  bool computeCollision(
    const GeometryModel & geom_model,
    GeometryData & geom_data,
    const PairIndex pair_id,
    fcl::CollisionRequest & collision_request);
 
  bool computeCollision(
    const GeometryModel & geom_model, GeometryData & geom_data, const PairIndex pair_id);
 
  bool computeCollisions(
    const GeometryModel & geom_model,
    GeometryData & geom_data,
    const bool stopAtFirstCollision = false);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename ConfigVectorType>
  bool 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);
 
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  void computeBodyRadius(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const GeometryModel & geom_model,
    GeometryData & geom_data);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/collision/collision.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/collision/collision.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_collision_collision_hpp__