Moved and split algo/collision to algo/geometry.

CMakeLists.txt

@@ -257,7 +257,8 @@ IF(HPP_FCL_FOUND)
     multibody/geometry.hxx
     )
   LIST(APPEND ${PROJECT_NAME}_ALGORITHM_HEADERS
-    algorithm/collisions.hpp
+    algorithm/geometry.hpp
+    algorithm/geometry.hxx
     )
 ENDIF(HPP_FCL_FOUND)
 

src/algorithm/geometry.hpp

+//
+// Copyright (c) 2015-2016 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_geometry_hpp__
+#define __se3_geometry_hpp__
+
+#include "pinocchio/multibody/visitor.hpp"
+#include "pinocchio/multibody/model.hpp"
+
+#include "pinocchio/algorithm/kinematics.hpp"
+#include "pinocchio/multibody/geometry.hpp"
+
+namespace se3
+{
+
+
+  ///
+  /// \brief Apply a forward kinematics and update the placement of the geometry objects.
+  ///
+  /// \param[in] model The model structure of the rigid body system.
+  /// \param[in] data The data structure of the rigid body system.
+  /// \param[in] geom The geometry model containing the collision objects.
+  /// \param[out] geom_data The geometry data containing the placements of the collision objects. See oMg field in GeometryData.
+  /// \param[in] q The joint configuration vector (dim model.nq).
+  ///
+  inline void updateGeometryPlacements(const Model & model,
+                                       Data & data,
+                                       const GeometryModel & geom,
+                                       GeometryData & geom_data,
+                                       const Eigen::VectorXd & q
+                                       );
+  
+  ///
+  /// \brief Update the placement of the geometry objects according to the current joint placements contained in data.
+  ///
+  /// \param[in] model The model structure of the rigid body system.
+  /// \param[in] data The data structure of the rigid body system.
+  /// \param[in] geom The geometry model containing the collision objects.
+  /// \param[out] geom_data The geometry data containing the placements of the collision objects. See oMg field in GeometryData.
+  ///
+  inline void updateGeometryPlacements(const Model & model,
+                                       const Data & data,
+                                       const GeometryModel & geom,
+                                       GeometryData & geom_data
+                                       );
+
+  inline bool computeCollisions(const Model & model,
+                                Data & data,
+                                const GeometryModel & model_geom,
+                                GeometryData & data_geom,
+                                const Eigen::VectorXd & q,
+                                const bool stopAtFirstCollision = false
+                                );
+
+  inline bool computeCollisions(GeometryData & data_geom,
+                                const bool stopAtFirstCollision = false
+                                );
+
+  inline void computeDistances(GeometryData & data_geom);
+
+  inline void computeDistances(const Model & model,
+                              Data & data,
+                              const GeometryModel & model_geom,
+                              GeometryData & data_geom,
+                              const Eigen::VectorXd & q
+                              );
+
+  inline void computeBodyRadius(const GeometryModel & geomModel,
+                                GeometryData & geomData);
+
+} // namespace se3 
+
+/* --- Details -------------------------------------------------------------------- */
+#include "pinocchio/algorithm/geometry.hxx"
+
+#endif // ifndef __se3_geometry_hpp__

src/algorithm/collisions.hpp → src/algorithm/geometry.hxx

@@ -15,73 +15,9 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_collisions_hpp__
-#define __se3_collisions_hpp__
+#ifndef __se3_geometry_hxx__
+#define __se3_geometry_hxx__
 
-#include "pinocchio/multibody/visitor.hpp"
-#include "pinocchio/multibody/model.hpp"
-
-#include "pinocchio/algorithm/kinematics.hpp"
-#include "pinocchio/multibody/geometry.hpp"
-
-namespace se3
-{
-
-
-  ///
-  /// \brief Apply a forward kinematics and update the placement of the geometry objects.
-  ///
-  /// \param[in] model The model structure of the rigid body system.
-  /// \param[in] data The data structure of the rigid body system.
-  /// \param[in] geom The geometry model containing the collision objects.
-  /// \param[out] geom_data The geometry data containing the placements of the collision objects. See oMg field in GeometryData.
-  /// \param[in] q The joint configuration vector (dim model.nq).
-  ///
-  inline void updateGeometryPlacements(const Model & model,
-                                       Data & data,
-                                       const GeometryModel & geom,
-                                       GeometryData & geom_data,
-                                       const Eigen::VectorXd & q
-                                       );
-  
-  ///
-  /// \brief Update the placement of the geometry objects according to the current joint placements contained in data.
-  ///
-  /// \param[in] model The model structure of the rigid body system.
-  /// \param[in] data The data structure of the rigid body system.
-  /// \param[in] geom The geometry model containing the collision objects.
-  /// \param[out] geom_data The geometry data containing the placements of the collision objects. See oMg field in GeometryData.
-  ///
-  inline void updateGeometryPlacements(const Model & model,
-                                       const Data & data,
-                                       const GeometryModel & geom,
-                                       GeometryData & geom_data
-                                       );
-
-  inline bool computeCollisions(const Model & model,
-                                Data & data,
-                                const GeometryModel & model_geom,
-                                GeometryData & data_geom,
-                                const Eigen::VectorXd & q,
-                                const bool stopAtFirstCollision = false
-                                );
-
-  inline bool computeCollisions(GeometryData & data_geom,
-                                const bool stopAtFirstCollision = false
-                                );
-
-  inline void computeDistances(GeometryData & data_geom);
-
-  inline void computeDistances(const Model & model,
-                              Data & data,
-                              const GeometryModel & model_geom,
-                              GeometryData & data_geom,
-                              const Eigen::VectorXd & q
-                              );
-
-} // namespace se3 
-
-/* --- Details -------------------------------------------------------------------- */
 namespace se3 
 {
   
@@ -162,4 +98,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_collisions_hpp__
+#endif __se3_geometry_hxx__

src/python/algorithms.hpp

@@ -40,7 +40,7 @@
   #include "pinocchio/multibody/geometry.hpp"
   #include "pinocchio/python/geometry-model.hpp"
   #include "pinocchio/python/geometry-data.hpp"
-  #include "pinocchio/algorithm/collisions.hpp"
+  #include "pinocchio/algorithm/geometry.hpp"
 #endif
 
 namespace se3

unittest/geom.cpp

@@ -34,7 +34,7 @@
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/parsers/sample-models.hpp"
 #include "pinocchio/algorithm/kinematics.hpp"
-#include "pinocchio/algorithm/collisions.hpp"
+#include "pinocchio/algorithm/geometry.hpp"
 #include "pinocchio/parsers/urdf.hpp"
 #include "pinocchio/spatial/explog.hpp"