Function pinocchio::computeDistance

Function Documentation

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.