pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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distance.hpp
1//
2// Copyright (c) 2015-2021 CNRS INRIA
3//
4
5#ifndef __pinocchio_collision_distance_hpp__
6#define __pinocchio_collision_distance_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
33 template<
34 typename Scalar,
35 int Options,
36 template<typename, int> class JointCollectionTpl,
37 typename ConfigVectorType>
38 std::size_t computeDistances(
39 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
40 DataTpl<Scalar, Options, JointCollectionTpl> & data,
41 const GeometryModel & geom_model,
42 GeometryData & geom_data);
43
59 template<
60 typename Scalar,
61 int Options,
62 template<typename, int> class JointCollectionTpl,
63 typename ConfigVectorType>
64 std::size_t computeDistances(
65 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
66 DataTpl<Scalar, Options, JointCollectionTpl> & data,
67 const GeometryModel & geom_model,
68 GeometryData & geom_data,
69 const Eigen::MatrixBase<ConfigVectorType> & q);
70
82 fcl::DistanceResult & computeDistance(
83 const GeometryModel & geom_model, GeometryData & geom_data, const PairIndex pair_id);
84
94 std::size_t computeDistances(const GeometryModel & geom_model, GeometryData & geom_data);
95
96} // namespace pinocchio
97
98/* --- Details -------------------------------------------------------------------- */
99#include "pinocchio/collision/distance.hxx"
100#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
101 #include "pinocchio/collision/distance.txx"
102#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
103
104#endif // ifndef __pinocchio_collision_distance_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeDistance
fcl::DistanceResult & computeDistance(const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id)
Compute the minimal distance between collision objects of a SINGLE collison pair.
pinocchio::computeDistances
std::size_t computeDistances(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)