Program Listing for File collision.hpp
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//
// Copyright (c) 2015-2021 CNRS INRIA
//
#ifndef __pinocchio_collision_collision_hpp__
#define __pinocchio_collision_collision_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/multibody/geometry.hpp"
#include "pinocchio/collision/config.hpp"
#include <hpp/fcl/collision_data.h>
namespace pinocchio
{
bool computeCollision(
const GeometryModel & geom_model,
GeometryData & geom_data,
const PairIndex pair_id,
fcl::CollisionRequest & collision_request);
bool computeCollision(
const GeometryModel & geom_model, GeometryData & geom_data, const PairIndex pair_id);
bool computeCollisions(
const GeometryModel & geom_model,
GeometryData & geom_data,
const bool stopAtFirstCollision = false);
template<
typename Scalar,
int Options,
template<typename, int> class JointCollectionTpl,
typename ConfigVectorType>
bool computeCollisions(
const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
DataTpl<Scalar, Options, JointCollectionTpl> & data,
const GeometryModel & geom_model,
GeometryData & geom_data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const bool stopAtFirstCollision = false);
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
void computeBodyRadius(
const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
const GeometryModel & geom_model,
GeometryData & geom_data);
} // namespace pinocchio
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/collision/collision.hxx"
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
#include "pinocchio/collision/collision.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
#endif // ifndef __pinocchio_collision_collision_hpp__