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