def findAllCollisionPairs(self, consider_only_active_collision_pairs=True):
res = [];
for i in range(len(self.collision_model.collisionPairs)):
if(not consider_only_active_collision_pairs or self.collision_data.activeCollisionPairs[i]):
if(se3.computeCollision(self.collision_model, self.collision_data, i)):
res += [(i, self.collision_model.collisionPairs[i])];
return res;
def findFirstCollisionPair(self,
consider_only_active_collision_pairs=True):
for i in range(len(self.collision_model.collisionPairs)):
if (not consider_only_active_collision_pairs
or self.collision_data.activeCollisionPairs[i]):
if (se3.computeCollision(self.collision_model,
self.collision_data, i)):
return (i, self.collision_model.collisionPairs[i])
return None