\page md_doc_a-features_d-model Geometric and collision models

Aside from the kinematic model, Pinocchio defines a geometric model, i.e. the volumes attached to the kinematic tree. This model can be used for displaying the robot and computing quantities associated to collisions. Like the kinematic model, the fixed quantities (placement and shape of the volumes) are stored in a GeometricModel object, while buffers and quantities used by associated algorithms are defined in an object. The volumes are represented using the FCL library. Bodies of the robot are attached to each joint, while obstacles of the environment are defined in the world frame. Collision and distance algorithms for the kinematic trees are implemented, based on FCL methods.