diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6fc70ec5802bcf45eb0bfedac6fe23cd84510967..7fc95211eb4843979f101a2260a87bee0627efbc 100644
--- a/CMakeLists.txt
+++ b/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)
diff --git a/src/algorithm/geometry.hpp b/src/algorithm/geometry.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..f4747025e9643b3527e24859cd490e54b9fc2413
--- /dev/null
+++ b/src/algorithm/geometry.hpp
@@ -0,0 +1,90 @@
+//
+// 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__
diff --git a/src/algorithm/collisions.hpp b/src/algorithm/geometry.hxx
similarity index 56%
rename from src/algorithm/collisions.hpp
rename to src/algorithm/geometry.hxx
index 28a6979e895f1d8ed825a4ffaf6542e223ea430c..5fbaa70dc77d0a2fb09b1965f4ea58cb51b3bab0 100644
--- a/src/algorithm/collisions.hpp
+++ b/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__
diff --git a/src/python/algorithms.hpp b/src/python/algorithms.hpp
index 33d3ac88fe7c1ebd6a7b2696263c47a8fc050a18..f4a3be720d0e8ffb9938a92ed140e62bbf7f1bb4 100644
--- a/src/python/algorithms.hpp
+++ b/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
diff --git a/unittest/geom.cpp b/unittest/geom.cpp
index 55cf86d7a855af3b599c45dd7aa01a7e04654177..4e822f7b5d95b723c3a9ad099ef22606e1ad35e3 100644
--- a/unittest/geom.cpp
+++ b/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"