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