Template Function pinocchio::computeCollisions(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, BroadPhaseManagerBase<BroadPhaseManagerDerived>&, const Eigen::MatrixBase<ConfigVectorType>&, const bool)
Defined in File broadphase.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename BroadPhaseManagerDerived, typename ConfigVectorType>
inline bool pinocchio::computeCollisions(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, BroadPhaseManagerBase<BroadPhaseManagerDerived> &broadphase_manager, const Eigen::MatrixBase<ConfigVectorType> &q, const bool stopAtFirstCollision = false) Compute the forward kinematics, update the geometry placements and run the collision detection using the broadphase manager.
Note
A similar function is available without model, data and q, not recomputing the forward kinematics.
Warning
if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).
- Template Parameters:
JointCollection – Collection of Joint types.
ConfigVectorType – Type of the joint configuration vector.
- Parameters:
model – [in] robot model (const)
data – [out] corresponding data (nonconst) where the forward kinematics results are stored
broadphase_manager – [in] broadphase manager for collision detection.
q – [in] robot configuration.
stopAtFirstCollision – [in] if true, stop the loop over the collision pairs when the first collision is detected.