Function pinocchio::computeCollision(const GeometryModel&, GeometryData&, const PairIndex)
Defined in File collision.hxx
Function Documentation
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inline bool pinocchio::computeCollision(const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id)
Compute the collision status between a SINGLE collision pair. The result is store in the collisionResults vector.
Note
The complete collision result is also available in geom_data.collisionResults[pair_id]
- Parameters:
GeomModel – [in] the geometry model (const)
GeomData – [out] the corresponding geometry data, where computations are done.
pair_id – [in] The collsion pair index in the GeometryModel.
- Returns:
Return true is the collision objects are colliding.