#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/multibody/geometry.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).
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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.
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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) |