pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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geometry.hpp
1//
2// Copyright (c) 2015-2022 CNRS INRIA
3//
4
5#ifndef __pinocchio_algo_geometry_hpp__
6#define __pinocchio_algo_geometry_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10#include "pinocchio/multibody/geometry.hpp"
11
12#include "pinocchio/algorithm/kinematics.hpp"
13
14namespace pinocchio
15{
16
29 template<
30 typename Scalar,
31 int Options,
32 template<typename, int> class JointCollectionTpl,
33 typename ConfigVectorType>
34 inline void updateGeometryPlacements(
35 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
36 DataTpl<Scalar, Options, JointCollectionTpl> & data,
37 const GeometryModel & geom_model,
38 GeometryData & geom_data,
39 const Eigen::MatrixBase<ConfigVectorType> & q);
40
53 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
54 inline void updateGeometryPlacements(
55 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
56 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
57 const GeometryModel & geom_model,
58 GeometryData & geom_data);
59
77 inline void appendGeometryModel(GeometryModel & geom_model1, const GeometryModel & geom_model2);
78
79} // namespace pinocchio
80
81/* --- Details -------------------------------------------------------------------- */
82#include "pinocchio/algorithm/geometry.hxx"
83
84#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
85 #include "pinocchio/algorithm/geometry.txx"
86#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
87
88// In Pinocchio 2, this header declare computeCollision and computeDistances
89#if defined(PINOCCHIO_WITH_HPP_FCL) && defined(PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2)
90 #include "pinocchio/collision/collision.hpp"
91 #include "pinocchio/collision/distance.hpp"
92#endif // PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2
93
94#endif // ifndef __pinocchio_algo_geometry_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::updateGeometryPlacements
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)
Apply a forward kinematics and update the placement of the geometry objects.
pinocchio::appendGeometryModel
void appendGeometryModel(GeometryModel &geom_model1, const GeometryModel &geom_model2)