From e07b3382347f32d9ab36b933f615cdef744a38ab Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 7 Sep 2016 09:36:25 +0200
Subject: [PATCH] [Doc] added doc for GeomData::activatedPair.
---
src/multibody/geometry.hpp | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index 42c29d599..1726423b1 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -276,7 +276,22 @@ namespace se3
~GeometryData() {};
#ifdef WITH_HPP_FCL
+
+ /// Activate a collision pair, for which collisions and distances would now be computed.
+ ///
+ /// A collision (resp distance) between to geometries of GeomModel::geometryObjects
+ /// is computed *iff* the corresponding pair has been added in GeomModel::collisionPairs *AND*
+ /// it is active, i.e. the corresponding boolean in GeomData::activePairs is true. The second
+ /// condition can be used to temporarily remove a pair without touching the model, in a versatile
+ /// manner.
+ /// \param[in] pairId the index of the pair in GeomModel::collisionPairs vector.
+ /// \param[in] new value of the activation boolean (true by default).
void activateCollisionPair(const Index pairId,const bool flag=true);
+
+ /// Deactivate a collision pair.
+ ///
+ /// Calls indeed GeomData::activateCollisionPair(pairId,false)
+ /// \sa activateCollisionPair
void deactivateCollisionPair(const Index pairId);
///
--
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