#include "pinocchio/collision/pool/broadphase-manager.hpp"#include "pinocchio/collision/broadphase.hpp"#include "pinocchio/algorithm/geometry.hpp"#include "pinocchio/algorithm/parallel/omp.hpp"#include <cstdint>
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename BroadPhaseManagerDerived , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename CollisionVectorResult > | |
| void | pinocchio::computeCollisionsInParallel (const size_t num_threads, BroadPhaseManagerPoolBase< BroadPhaseManagerDerived, Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< CollisionVectorResult > &res, const bool stopAtFirstCollisionInConfiguration=false, const bool stopAtFirstCollisionInBatch=false) |
| template<typename BroadPhaseManagerDerived , typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | pinocchio::computeCollisionsInParallel (const size_t num_threads, BroadPhaseManagerPoolBase< BroadPhaseManagerDerived, Scalar, Options, JointCollectionTpl > &pool, const std::vector< Eigen::MatrixXd > &trajectories, std::vector< VectorXb > &res, const bool stopAtFirstCollisionInTrajectory=false) |
| Evaluate the collision over a set of trajectories and return whether a trajectory contains a collision. More... | |