Function pinocchio::computeCollisions(const GeometryModel&, GeometryData&, const bool)

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.