30 #ifndef HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH 31 #define HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH 63 #endif // HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:123
Definition: bi-rrt-planner.hh:35
void computeDistances()
Compute distances between pairs of objects stored in bodies.
void obstacles(const ObjectStdVector_t &obstacles)
Add a list of obstacles.
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:228
void addObstacle(const CollisionObjectConstPtr_t &object)
DistanceBetweenObjects(const DevicePtr_t &robot)
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:132
const CollisionPairs_t & collisionPairs() const
Get collision pairs.
Definition: distance-between-objects.hh:50
Computation of distances between pairs of objects.
Definition: distance-between-objects.hh:38
const DistanceResults_t & distanceResults() const
Get result of distance computations.
Definition: distance-between-objects.hh:52
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:173