Template Function pinocchio::computeBodyRadius

Function Documentation

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