pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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geometry.hpp
1
2//
3// Copyright (c) 2026 INRIA
4//
5
6#pragma once
7
8// IWYU pragma: begin_keep
9#include <Eigen/Core>
10
11#include <omp.h>
12#include <cstddef>
13#include <vector>
14
15#include "pinocchio/eigen-common.hpp"
16#include "pinocchio/macros.hpp"
17
18#include "pinocchio/multibody.hpp"
19#include "pinocchio/multibody/pool.hpp"
20
21#include "pinocchio/algorithm/geometry.hpp"
22
23#include "pinocchio/utils/openmp.hpp"
24
25#include "pinocchio/collision/collision.hpp"
26// IWYU pragma: end_keep
27
28namespace pinocchio
29{
30 inline bool computeCollisionsInParallel(
31 const size_t num_threads,
32 const GeometryModel & geom_model,
33 GeometryData & geom_data,
34 const bool stopAtFirstCollision = false);
35
36 template<
37 typename Scalar,
38 int Options,
39 template<typename, int> class JointCollectionTpl,
40 typename ConfigVectorType>
41 inline bool computeCollisionsInParallel(
42 const size_t num_threads,
43 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
44 DataTpl<Scalar, Options, JointCollectionTpl> & data,
45 const GeometryModel & geom_model,
46 GeometryData & geom_data,
47 const Eigen::MatrixBase<ConfigVectorType> & q,
48 const bool stopAtFirstCollision = false);
49
50 template<
51 typename Scalar,
52 int Options,
53 template<typename, int> class JointCollectionTpl,
54 typename ConfigVectorPool,
55 typename CollisionVectorResult>
56 inline void computeCollisionsInParallel(
57 const size_t num_threads,
58 GeometryPoolTpl<Scalar, Options, JointCollectionTpl> & pool,
59 const Eigen::MatrixBase<ConfigVectorPool> & q,
60 const Eigen::MatrixBase<CollisionVectorResult> & res,
61 const bool stopAtFirstCollisionInConfiguration = false,
62 const bool stopAtFirstCollisionInBatch = false);
63} // namespace pinocchio
64
65// IWYU pragma: begin_exports
66#include "pinocchio/src/collision/parallel/geometry.hxx"
67// IWYU pragma: end_exports
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11