pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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collision.hpp
1//
2// Copyright (c) 2015-2021 CNRS INRIA
3//
4
5#ifndef __pinocchio_collision_collision_hpp__
6#define __pinocchio_collision_collision_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10#include "pinocchio/multibody/geometry.hpp"
11
12#include "pinocchio/collision/config.hpp"
13
14#include <hpp/fcl/collision_data.h>
15
16namespace pinocchio
17{
18
31 bool computeCollision(
32 const GeometryModel & geom_model,
33 GeometryData & geom_data,
34 const PairIndex pair_id,
35 fcl::CollisionRequest & collision_request);
36
48 bool computeCollision(
49 const GeometryModel & geom_model, GeometryData & geom_data, const PairIndex pair_id);
50
63 bool computeCollisions(
64 const GeometryModel & geom_model,
65 GeometryData & geom_data,
66 const bool stopAtFirstCollision = false);
67
88 template<
89 typename Scalar,
90 int Options,
91 template<typename, int> class JointCollectionTpl,
92 typename ConfigVectorType>
93 bool computeCollisions(
94 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
95 DataTpl<Scalar, Options, JointCollectionTpl> & data,
96 const GeometryModel & geom_model,
97 GeometryData & geom_data,
98 const Eigen::MatrixBase<ConfigVectorType> & q,
99 const bool stopAtFirstCollision = false);
100
110 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
111 void computeBodyRadius(
112 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
113 const GeometryModel & geom_model,
114 GeometryData & geom_data);
115
116} // namespace pinocchio
117
118/* --- Details -------------------------------------------------------------------- */
119#include "pinocchio/collision/collision.hxx"
120
121#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
122 #include "pinocchio/collision/collision.txx"
123#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
124
125#endif // ifndef __pinocchio_collision_collision_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeBodyRadius
void computeBodyRadius(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, GeometryData &geom_data)
pinocchio::computeCollisions
bool computeCollisions(BroadPhaseManagerBase< BroadPhaseManagerDerived > &broadphase_manager, CollisionCallBackBase *callback)
Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeome...
Definition broadphase.hpp:34
pinocchio::computeCollision
bool computeCollision(const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id, fcl::CollisionRequest &collision_request)
Compute the collision status between a SINGLE collision pair. The result is store in the collisionRes...