Function pinocchio::computeCollision(const GeometryModel&, GeometryData&, const PairIndex)

Function Documentation

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.