Function pinocchio::computeDistance
Defined in File distance.hxx
Function Documentation
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inline fcl::DistanceResult &pinocchio::computeDistance(const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id)
Compute the minimal distance between collision objects of a SINGLE collison pair.
Note
The complete distance result is also available in geom_data.distanceResults[pair_id]
- Parameters:
GeomModel – [in] the geometry model (const)
GeomData – [out] the corresponding geometry data, where computations are done.
pair_id – [in] The index of the collision pair in geom model.
- Returns:
A reference on fcl struct containing the distance result, referring an element of vector geom_data::distanceResults.