Function pinocchio::computeDistances(const GeometryModel&, GeometryData&)
Defined in File distance.hxx
Function Documentation
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inline std::size_t pinocchio::computeDistances(const GeometryModel &geom_model, GeometryData &geom_data)
Compute the minimal distance between collision objects of a ALL collison pair.
Note
The complete distance result is available by pair in geom_data.distanceResults
- Parameters:
GeomModel – [in] the geometry model (const)
GeomData – [out] the corresponding geometry data, where computations are done.
- Returns:
Index of the minimal pair distance in geom_data.DistanceResult