Template Function pinocchio::computeBodyRadius
Defined in File collision.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline void pinocchio::computeBodyRadius(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const GeometryModel &geom_model, GeometryData &geom_data) Compute the radius of the geometry volumes attached to every joints.
For all bodies of the model, compute the point of the geometry model that is the further from the center of the joint. This quantity is used in some continuous collision test.
See also
GeometryData::radius
- Parameters:
model – [in] Kinematic model of the system
geom_model – [in] Geometry model of the system
geom_data – [out] Geometry data of the system