pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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broadphase.hpp
1//
2// Copyright (c) 2022 INRIA
3//
4
5#pragma once
6
7// IWYU pragma: begin_keep
8#include <Eigen/Core>
9
10#include <coal/broadphase/broadphase_collision_manager.h>
11
12#include "pinocchio/multibody.hpp"
13
14#include "pinocchio/collision/broadphase-manager.hpp"
15#include "pinocchio/collision/broadphase-callbacks.hpp"
16// IWYU pragma: end_keep
17
18namespace pinocchio
19{
20
32 template<typename BroadPhaseManagerDerived>
33 bool computeCollisions(
34 BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager,
35 CollisionCallBackBase * callback);
36
49 template<typename BroadPhaseManagerDerived>
50 bool computeCollisions(
51 BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager,
52 const bool stopAtFirstCollision = false);
53
72 template<
73 typename Scalar,
74 int Options,
75 template<typename, int> class JointCollectionTpl,
76 typename BroadPhaseManagerDerived,
77 typename ConfigVectorType>
78 inline bool computeCollisions(
79 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
80 DataTpl<Scalar, Options, JointCollectionTpl> & data,
81 BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager,
82 CollisionCallBackBase * callback,
83 const Eigen::MatrixBase<ConfigVectorType> & q);
84
104 template<
105 typename Scalar,
106 int Options,
107 template<typename, int> class JointCollectionTpl,
108 typename BroadPhaseManagerDerived,
109 typename ConfigVectorType>
110 inline bool computeCollisions(
111 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
112 DataTpl<Scalar, Options, JointCollectionTpl> & data,
113 BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager,
114 const Eigen::MatrixBase<ConfigVectorType> & q,
115 const bool stopAtFirstCollision = false);
116
117} // namespace pinocchio
118
119// IWYU pragma: begin_exports
120#include "pinocchio/src/collision/broadphase.hxx"
121// IWYU pragma: end_exports
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeCollisions
bool computeCollisions(BroadPhaseManagerBase< BroadPhaseManagerDerived > &broadphase_manager, CollisionCallBackBase *callback)
Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeome...