Function pinocchio::computeCollisions(const GeometryModel&, GeometryData&, const bool)
Defined in File collision.hxx
Function Documentation
-
inline bool pinocchio::computeCollisions(const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision = false)
Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements has been called first.
Warning
if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).
- Parameters:
geom_model – [in] geometry model (const)
geom_data – [out] corresponding geometry data (nonconst) where collisions are computed
stopAtFirstCollision – [in] if true, stop the loop over the collision pairs when the first collision is detected.