collisions.hpp File Reference
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/multibody/geometry.hpp"
Include dependency graph for collisions.hpp:

Namespaces

namespace  se3

Functions

void se3::updateGeometryPlacements (const Model &model, Data &data, const GeometryModel &geom, GeometryData &geom_data, const Eigen::VectorXd &q)
 Apply a forward kinematics and update the placement of the geometry objects (both collision's and visual's one).
void se3::updateGeometryPlacements (const Model &model, const Data &data, const GeometryModel &geom, GeometryData &geom_data)
 Update the placement of the geometry objects according to the current joint placements contained in data.
bool se3::computeCollisions (const Model &model, Data &data, const GeometryModel &model_geom, GeometryData &data_geom, const Eigen::VectorXd &q, const bool stopAtFirstCollision=false)
bool se3::computeCollisions (GeometryData &data_geom, const bool stopAtFirstCollision=false)
void se3::computeDistances (GeometryData &data_geom)
void se3::computeDistances (const Model &model, Data &data, const GeometryModel &model_geom, GeometryData &data_geom, const Eigen::VectorXd &q)