.. _exhale_function_namespacepinocchio_1a9c5f44f7f37ba3f9e9e4b8f40c734a2c:

Template Function pinocchio::computeCollisions(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, BroadPhaseManagerBase<BroadPhaseManagerDerived>&, const Eigen::MatrixBase<ConfigVectorType>&, const bool)
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- Defined in :ref:`file_include_pinocchio_collision_broadphase.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::computeCollisions(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, BroadPhaseManagerBase<BroadPhaseManagerDerived>&, const Eigen::MatrixBase<ConfigVectorType>&, const bool)
   :project: pinocchio Doxygen Project