| Directory: | ./ |
|---|---|
| File: | src/object-map.cc |
| Date: | 2024-09-11 11:37:19 |
| Exec | Total | Coverage | |
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| Lines: | 23 | 58 | 39.7% |
| Branches: | 8 | 66 | 12.1% |
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| 1 | // Copyright (c) 2018, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #include <hpp/corbaserver/object-map.hh> | ||
| 30 | |||
| 31 | namespace hpp { | ||
| 32 | namespace corbaServer { | ||
| 33 | ✗ | void ObjectMap::createPolyhedron(const std::string name) { | |
| 34 | // Check that polyhedron does not already exist. | ||
| 35 | ✗ | if (nameExists<BothGeomType, ThrowIfItExists>(name)) return; | |
| 36 | ✗ | polyhedronMap_[name] = PolyhedronData(); | |
| 37 | } | ||
| 38 | |||
| 39 | // -------------------------------------------------------------------- | ||
| 40 | |||
| 41 | ✗ | void ObjectMap::createBox(const std::string name, value_type x, value_type y, | |
| 42 | value_type z) { | ||
| 43 | // Check that object does not already exist. | ||
| 44 | ✗ | if (nameExists<BothGeomType, ThrowIfItExists>(name)) return; | |
| 45 | ✗ | shapeMap_[name] = CollisionGeometryPtr_t(new fcl::Box(x, y, z)); | |
| 46 | } | ||
| 47 | |||
| 48 | // -------------------------------------------------------------------- | ||
| 49 | |||
| 50 | 12 | void ObjectMap::createSphere(const std::string name, value_type radius) { | |
| 51 |
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12 | if (nameExists<BothGeomType, ThrowIfItExists>(name)) return; |
| 52 |
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12 | shapeMap_[name] = CollisionGeometryPtr_t(new fcl::Sphere(radius)); |
| 53 | } | ||
| 54 | |||
| 55 | // -------------------------------------------------------------------- | ||
| 56 | |||
| 57 | ✗ | void ObjectMap::createCylinder(const std::string name, value_type radius, | |
| 58 | value_type length) { | ||
| 59 | ✗ | if (nameExists<BothGeomType, ThrowIfItExists>(name)) return; | |
| 60 | ✗ | shapeMap_[name] = CollisionGeometryPtr_t(new fcl::Cylinder(radius, length)); | |
| 61 | } | ||
| 62 | |||
| 63 | // -------------------------------------------------------------------- | ||
| 64 | |||
| 65 | ✗ | std::size_t ObjectMap::addPoint(const std::string name, value_type x, | |
| 66 | value_type y, value_type z) { | ||
| 67 | // Check that polyhedron exists. | ||
| 68 | ✗ | if (!nameExists<Polyhedron, ThrowIfItDoesNotExist>(name)) return 0; | |
| 69 | ✗ | PolyhedronData& poly = polyhedronMap_[name]; | |
| 70 | ✗ | poly.pts.push_back(fcl::Vec3f(x, y, z)); | |
| 71 | ✗ | return poly.pts.size() - 1; | |
| 72 | } | ||
| 73 | |||
| 74 | // -------------------------------------------------------------------- | ||
| 75 | |||
| 76 | ✗ | std::size_t ObjectMap::addTriangle(const std::string name, std::size_t pt1, | |
| 77 | std::size_t pt2, std::size_t pt3) { | ||
| 78 | // Check that polyhedron exists. | ||
| 79 | ✗ | if (!nameExists<Polyhedron, ThrowIfItDoesNotExist>(name)) return 0; | |
| 80 | ✗ | PolyhedronData& poly = polyhedronMap_[name]; | |
| 81 | ✗ | poly.tris.push_back(fcl::Triangle(pt1, pt2, pt3)); | |
| 82 | ✗ | return poly.tris.size() - 1; | |
| 83 | } | ||
| 84 | |||
| 85 | // -------------------------------------------------------------------- | ||
| 86 | |||
| 87 | 12 | CollisionGeometryPtr_t ObjectMap::geometry(const std::string name) { | |
| 88 | 12 | CollisionGeometryPtr_t geometry; | |
| 89 | // Check that polyhedron exists. | ||
| 90 |
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12 | if (nameExists<Polyhedron, NoThrow>(name)) { |
| 91 | ✗ | const PolyhedronData& poly = polyhedronMap_[name]; | |
| 92 | ✗ | Polyhedron_t* polyhedron = new Polyhedron_t; | |
| 93 | ✗ | geometry.reset(polyhedron); | |
| 94 | ✗ | int res = polyhedron->beginModel(); | |
| 95 | ✗ | if (res != fcl::BVH_OK) { | |
| 96 | ✗ | std::ostringstream oss; | |
| 97 | ✗ | oss << "fcl BVHReturnCode = " << res; | |
| 98 | ✗ | throw hpp::Error(oss.str().c_str()); | |
| 99 | } | ||
| 100 | |||
| 101 | ✗ | polyhedron->addSubModel(poly.pts, poly.tris); | |
| 102 | ✗ | polyhedron->endModel(); | |
| 103 |
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12 | } else if (nameExists<Shape, ThrowIfItDoesNotExist>(name)) { |
| 104 |
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12 | geometry = shapeMap_[name]; |
| 105 | } | ||
| 106 | 12 | return geometry; | |
| 107 | } | ||
| 108 | |||
| 109 | // -------------------------------------------------------------------- | ||
| 110 | |||
| 111 | template <ObjectMap::GeomType geomType, ObjectMap::ThrowType throwType> | ||
| 112 | 36 | bool ObjectMap::nameExists(const std::string& name) const { | |
| 113 | 36 | bool exists = false; | |
| 114 | switch (geomType) { | ||
| 115 | case Shape: | ||
| 116 | 12 | exists = (shapeMap_.find(name) != shapeMap_.end()); | |
| 117 | 12 | break; | |
| 118 | case Polyhedron: | ||
| 119 | 12 | exists = (polyhedronMap_.find(name) != polyhedronMap_.end()); | |
| 120 | 12 | break; | |
| 121 | case BothGeomType: | ||
| 122 | 24 | exists = (shapeMap_.find(name) != shapeMap_.end()) || | |
| 123 | 12 | (polyhedronMap_.find(name) != polyhedronMap_.end()); | |
| 124 | 12 | break; | |
| 125 | } | ||
| 126 | |||
| 127 | switch (throwType) { | ||
| 128 | case NoThrow: | ||
| 129 | 12 | return exists; | |
| 130 | case ThrowIfItExists: | ||
| 131 | 12 | if (exists) { | |
| 132 | ✗ | std::ostringstream oss; | |
| 133 | ✗ | oss << "object " << name << " already exists."; | |
| 134 | ✗ | throw hpp::Error(oss.str().c_str()); | |
| 135 | } | ||
| 136 | 12 | return false; | |
| 137 | case ThrowIfItDoesNotExist: | ||
| 138 | 12 | if (!exists) { | |
| 139 | ✗ | std::ostringstream oss; | |
| 140 | ✗ | oss << "object " << name << " does not exist."; | |
| 141 | ✗ | throw hpp::Error(oss.str().c_str()); | |
| 142 | } | ||
| 143 | 12 | return true; | |
| 144 | } | ||
| 145 | } | ||
| 146 | } // end of namespace corbaServer. | ||
| 147 | } // end of namespace hpp. | ||
| 148 |