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23 template<
typename,
int>
class JointCollectionTpl,
24 typename ConfigVectorType>
30 const Eigen::MatrixBase<ConfigVectorType> &
q)
37 using namespace Eigen;
39 bp::register_ptr_to_python<std::shared_ptr<hpp::fcl::CollisionGeometry const>>();
41 bp::class_<ComputeCollision>(
42 "ComputeCollision",
"Collision function between two geometry objects.\n\n", bp::no_init)
46 bp::class_<ComputeDistance>(
47 "ComputeDistance",
"Distance function between two geometry objects.\n\n", bp::no_init)
56 bp::args(
"geometry_model",
"geometry_data",
"pair_index",
"collision_request"),
57 "Check if the collision objects of a collision pair for a given Geometry Model and "
58 "Data are in collision.\n"
59 "The collision pair is given by the two index of the collision objects.");
65 bp::args(
"geometry_model",
"geometry_data",
"pair_index"),
66 "Check if the collision objects of a collision pair for a given Geometry Model and "
67 "Data are in collision.\n"
68 "The collision pair is given by the two index of the collision objects.");
73 (bp::arg(
"geometry_model"), bp::arg(
"geometry_data"),
74 bp::arg(
"stop_at_first_collision") =
false),
75 "Determine if all collision pairs are effectively in collision or not.");
78 "computeCollisions", &computeCollisions<double, 0, JointCollectionDefaultTpl, VectorXd>,
79 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"geometry_model"), bp::arg(
"geometry_data"),
80 bp::arg(
"q"), bp::arg(
"stop_at_first_collision") =
false),
81 "Update the geometry for a given configuration and "
82 "determine if all collision pairs are effectively in collision or not.");
86 bp::args(
"geometry_model",
"geometry_data",
"pair_index"),
87 "Compute the distance between the two geometry objects of a given collision pair for "
88 "a GeometryModel and associated GeometryData.",
89 bp::with_custodian_and_ward_postcall<
90 0, 2, bp::return_value_policy<bp::reference_existing_object>>());
95 bp::args(
"geometry_model",
"geometry_data"),
96 "Compute the distance between each collision pair for a given GeometryModel and "
97 "associated GeometryData.");
100 "computeDistances", &computeDistances_proxy<double, 0, JointCollectionDefaultTpl, VectorXd>,
101 bp::args(
"model",
"data",
"geometry_model",
"geometry_data",
"q"),
102 "Update the geometry for a given configuration and "
103 "compute the distance between each collision pair");
106 "computeBodyRadius", &computeBodyRadius<double, 0, JointCollectionDefaultTpl>,
107 bp::args(
"model",
"geometry_model",
"geometry_data"),
108 "Compute the radius of the geometry volumes attached to every joints.");
bool computeCollisions(BroadPhaseManagerBase< BroadPhaseManagerDerived > &broadphase_manager, CollisionCallBackBase *callback)
Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeome...
fcl::DistanceResult & computeDistance(const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id)
Compute the minimal distance between collision objects of a SINGLE collison pair.
bool computeCollision(const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id, fcl::CollisionRequest &collision_request)
Compute the collision status between a SINGLE collision pair. The result is store in the collisionRes...
static std::size_t computeDistances_proxy(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
std::size_t computeDistances(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)
static void expose(const std::string &class_name, const std::string &doc_string="")
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:09