distance.hpp

//
// Copyright (c) 2015-2021 CNRS INRIA
//

#pragma once

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

#include <cassert>
#include <cstddef>
#include <limits>
#include <sstream>
#include <stdexcept>
#include <vector>

#include <coal/collision_data.h>
#include <coal/math/transform.h>

#include "pinocchio/macros.hpp"

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

#include "pinocchio/collision/config.hpp"
#include "pinocchio/collision/coal-pinocchio-conversions.hpp"
// IWYU pragma: end_keep

namespace pinocchio
{

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

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

 coal::DistanceResult & computeDistance(
 const GeometryModel & geom_model, GeometryData & geom_data, const PairIndex pair_id);

 std::size_t computeDistances(const GeometryModel & geom_model, GeometryData & geom_data);

} // namespace pinocchio

// IWYU pragma: begin_exports
#include "pinocchio/src/collision/distance.hxx"
// IWYU pragma: end_exports