Directory: | ./ |
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File: | src/object-map.cc |
Date: | 2024-12-13 15:50:05 |
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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 coal::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 coal::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 coal::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(coal::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(coal::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 != coal::BVH_OK) { | |
96 | ✗ | std::ostringstream oss; | |
97 | ✗ | oss << "coal 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 |