geometry.hpp

//
// Copyright (c) 2015-2022 CNRS INRIA
//

#pragma once

// IWYU pragma: begin_keep
#include <Eigen/Core>

#include <cassert>
#include <sstream>
#include <vector>

#include <boost/fusion/container/vector.hpp>
#include <boost/foreach.hpp>
//
#include "pinocchio/macros.hpp"
#include "pinocchio/spatial.hpp"

#include "pinocchio/multibody.hpp"
#include "pinocchio/geometry.hpp"

#include "pinocchio/algorithm/check.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
// IWYU pragma: end_keep

namespace pinocchio
{

 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename ConfigVectorType>
 inline void updateGeometryPlacements(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const GeometryModel & geom_model,
 GeometryData & geom_data,
 const Eigen::MatrixBase<ConfigVectorType> & q);

 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
 inline void updateGeometryPlacements(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const GeometryModel & geom_model,
 GeometryData & geom_data);

 inline void appendGeometryModel(GeometryModel & geom_model1, const GeometryModel & geom_model2);

} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
// IWYU pragma: begin_exports
#include "pinocchio/src/algorithm/geometry.hxx"
// IWYU pragma: end_exports

// In Pinocchio 2, this header declare computeCollision and computeDistances
#if defined(PINOCCHIO_WITH_COLLISION) && defined(PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2)
 #include "pinocchio/collision/collision.hpp"
 #include "pinocchio/collision/distance.hpp"
#endif // PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2