distance-between-bodies.hh

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//
// Copyright (c) 2015 CNRS
// Authors: Florent Lamiraux
//
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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//
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#ifndef HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH
#define HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH
 
#include <hpp/constraints/differentiable-function.hh>
#include <hpp/constraints/fwd.hh>
#include <hpp/pinocchio/collision-object.hh>
#include <hpp/pinocchio/liegroup-element.hh>
#include <pinocchio/multibody/geometry.hpp>
 
namespace hpp {
namespace constraints {
class HPP_CONSTRAINTS_DLLAPI DistanceBetweenBodies
    : public DifferentiableFunction {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  static DistanceBetweenBodiesPtr_t create(const std::string& name,
                                           const DevicePtr_t& robot,
                                           const JointPtr_t& joint1,
                                           const JointPtr_t& joint2);
 
  static DistanceBetweenBodiesPtr_t create(
      const std::string& name, const DevicePtr_t& robot,
      const JointPtr_t& joint,
      const std::vector<CollisionObjectPtr_t>& objects);
 
  virtual ~DistanceBetweenBodies() {}
 
 protected:
  DistanceBetweenBodies(const std::string& name, const DevicePtr_t& robot,
                        const JointPtr_t& joint1, const JointPtr_t& joint2);
 
  DistanceBetweenBodies(const std::string& name, const DevicePtr_t& robot,
                        const JointPtr_t& joint,
                        const std::vector<CollisionObjectPtr_t>& objects);
 
  virtual void impl_compute(LiegroupElementRef result,
                            ConfigurationIn_t argument) const;
  virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const;
 
  bool isEqual(const DifferentiableFunction& other) const {
    const DistanceBetweenBodies& castother =
        dynamic_cast<const DistanceBetweenBodies&>(other);
    if (!DifferentiableFunction::isEqual(other)) return false;
 
    if (robot_ != castother.robot_) return false;
    if (joint1_ != castother.joint1_) return false;
    if (joint2_ != castother.joint2_) return false;
    if (data_ != castother.data_) return false;
 
    return true;
  }
 
 private:
  typedef ::pinocchio::GeometryData GeometryData;
 
  DevicePtr_t robot_;
  JointPtr_t joint1_;
  JointPtr_t joint2_;
  mutable GeometryData data_;
  mutable std::size_t minIndex_;
  mutable Configuration_t latestArgument_;
  mutable LiegroupElement latestResult_;
};  // class DistanceBetweenBodies
}  // namespace constraints
}  // namespace hpp
 
#endif  // HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH