Template Function pinocchio::computeDistances(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const GeometryModel&, GeometryData&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
std::size_t pinocchio::computeDistances(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const GeometryModel &geom_model, GeometryData &geom_data)

Update the geometry placements and calls computeDistance for every active pairs of GeometryData.

Note

A similar function is available without model, data and q, not recomputing the FK.

Template Parameters:
  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

Parameters:
  • model[in] robot model (const)

  • data[in] corresponding data (nonconst) where FK results are stored

  • geom_model[in] geometry model (const)

  • geom_data[out] corresponding geometry data (nonconst) where distances are computed