19 #ifndef HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
20 # define HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
Computation of distances between pairs of objects.
Definition: distance-between-objects.hh:28
void obstacles(const ObjectStdVector_t &obstacles)
Add a list of obstacles.
void computeDistances()
Compute distances between pairs of objects stored in bodies.
const CollisionPairs_t & collisionPairs() const
Get collision pairs.
Definition: distance-between-objects.hh:41
const DistanceResults_t & distanceResults() const
Get result of distance computations.
Definition: distance-between-objects.hh:44
DistanceBetweenObjects(const DevicePtr_t &robot)
void addObstacle(const CollisionObjectConstPtr_t &object)
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:221
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:167
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:125
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
Definition: bi-rrt-planner.hh:24