19 #ifndef HPP_CORE_COLLISION_PAIR_HH 20 # define HPP_CORE_COLLISION_PAIR_HH 22 #include <hpp/fcl/collision.h> 23 #include <pinocchio/spatial/fcl-pinocchio-conversions.hpp> 25 #include <hpp/pinocchio/device-data.hh> 26 #include <hpp/pinocchio/collision-object.hh> 43 inline auto collide(fcl::CollisionRequest& request, fcl::CollisionResult& result)
const 46 assert(!
first ->getTransform().translation().hasNaN());
47 assert(!
first ->getTransform().rotation ().hasNaN());
48 assert(!
second->getTransform().translation().hasNaN());
49 assert(!
second->getTransform().rotation ().hasNaN());
51 first ->getFclTransform(),
56 inline auto collide(
const pinocchio::DeviceData& d,
57 fcl::CollisionRequest& request, fcl::CollisionResult& result)
const 60 using ::pinocchio::toFclTransform3f;
61 assert(!
first ->getTransform(d).translation().hasNaN());
62 assert(!
first ->getTransform(d).rotation ().hasNaN());
63 assert(!
second->getTransform(d).translation().hasNaN());
64 assert(!
second->getTransform(d).rotation ().hasNaN());
66 toFclTransform3f(
first ->getTransform (d)),
67 toFclTransform3f(
second->getTransform (d)),
74 #endif // HPP_CORE_COLLISION_PAIR_HH Definition: bi-rrt-planner.hh:24
std::vector< fcl::CollisionRequest > CollisionRequests_t
Definition: collision-pair.hh:32
Definition: collision-pair.hh:34
CollisionObjectConstPtr_t first
Definition: collision-pair.hh:35
fcl::ComputeCollision computeCollision
Definition: collision-pair.hh:37
CollisionObjectConstPtr_t second
Definition: collision-pair.hh:36
CollisionPair(CollisionObjectConstPtr_t f, CollisionObjectConstPtr_t s)
Definition: collision-pair.hh:39
auto collide(fcl::CollisionRequest &request, fcl::CollisionResult &result) const
Definition: collision-pair.hh:43
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
auto collide(const pinocchio::DeviceData &d, fcl::CollisionRequest &request, fcl::CollisionResult &result) const
Definition: collision-pair.hh:56