Function pinocchio::computeDistances(const GeometryModel&, GeometryData&)

Function Documentation

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