30 #ifndef HPP_CORE_COLLISION_PAIR_HH 31 #define HPP_CORE_COLLISION_PAIR_HH 33 #include <hpp/fcl/collision.h> 36 #include <hpp/pinocchio/collision-object.hh> 37 #include <hpp/pinocchio/device-data.hh> 38 #include <pinocchio/spatial/fcl-pinocchio-conversions.hpp> 55 inline auto collide(fcl::CollisionRequest& request,
56 fcl::CollisionResult& result)
const 59 assert(!
first->getTransform().translation().hasNaN());
60 assert(!
first->getTransform().rotation().hasNaN());
61 assert(!
second->getTransform().translation().hasNaN());
62 assert(!
second->getTransform().rotation().hasNaN());
67 inline auto collide(
const pinocchio::DeviceData& d,
68 fcl::CollisionRequest& request,
69 fcl::CollisionResult& result)
const 72 using ::pinocchio::toFclTransform3f;
73 assert(!
first->getTransform(d).translation().hasNaN());
74 assert(!
first->getTransform(d).rotation().hasNaN());
75 assert(!
second->getTransform(d).translation().hasNaN());
76 assert(!
second->getTransform(d).rotation().hasNaN());
78 toFclTransform3f(
second->getTransform(d)), request,
85 #endif // HPP_CORE_COLLISION_PAIR_HH Definition: bi-rrt-planner.hh:35
std::vector< fcl::CollisionRequest > CollisionRequests_t
Definition: collision-pair.hh:43
Definition: collision-pair.hh:45
CollisionObjectConstPtr_t first
Definition: collision-pair.hh:46
fcl::ComputeCollision computeCollision
Definition: collision-pair.hh:48
CollisionObjectConstPtr_t second
Definition: collision-pair.hh:47
CollisionPair(CollisionObjectConstPtr_t f, CollisionObjectConstPtr_t s)
Definition: collision-pair.hh:50
auto collide(fcl::CollisionRequest &request, fcl::CollisionResult &result) const
Definition: collision-pair.hh:55
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
auto collide(const pinocchio::DeviceData &d, fcl::CollisionRequest &request, fcl::CollisionResult &result) const
Definition: collision-pair.hh:67