Calls to FCL
Created by: jmirabel
With the API of hpp-model, a distance request to FCL was:
fcl::distance(obj1->fcl(), obj2->fcl(), request, result)
With hpp-pinocchio, we have:
fcl::distance(obj1->fcl().collisionGeometry().get(), obj1->getFclTransform(),
obj2->fcl().collisionGeometry().get(), obj1->getFclTransform(),
request, result)
which is not very convenient.
This is because pinocchio do not use the transformation inside the fcl::CollisionObject
(I think but I'm not sure). The API of CollisionObject
to get a more handy and readable code.