candlewick/LoadPinocchioGeometry_8h_source.html

#pragma once


#include "Multibody.h"

#include "../utils/MeshData.h"


#include <pinocchio/multibody/geometry-object.hpp>


namespace candlewick::multibody {


void loadGeometryObject(const pin::GeometryObject &gobj,

                        std::vector<MeshData> &meshData);


inline std::vector<MeshData>


loadGeometryObject(const pin::GeometryObject &gobj) {

  std::vector<MeshData> meshData;

  loadGeometryObject(gobj, meshData);

  return meshData;

}


} // namespace candlewick::multibody

MeshData.h

Multibody.h

candlewick::multibody
Support for the Pinocchio rigid-body algorithms library and the Coal collision detection library.
Definition Components.h:5

candlewick::multibody::loadGeometryObject
void loadGeometryObject(const pin::GeometryObject &gobj, std::vector< MeshData > &meshData)
Load an invidual Pinocchio GeometryObject's component geometries into an array of MeshData.