body-pair-collision.hh

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//
// Copyright (c) 2014,2015,2016,2018 CNRS
// Authors: Florent Lamiraux, Joseph Mirabel, Diane Bury
//
 
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// 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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// DAMAGE.
 
#ifndef HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
#define HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
 
#include <coal/collision_data.h>
 
#include <boost/icl/continuous_interval.hpp>
#include <boost/icl/interval_set.hpp>
#include <hpp/core/collision-pair.hh>
#include <hpp/core/collision-validation-report.hh>
#include <hpp/core/continuous-validation/interval-validation.hh>
 
namespace hpp {
namespace core {
namespace continuousValidation {
class BodyPairCollision : public IntervalValidation {
 public:
  bool validateConfiguration(const value_type& t, interval_t& interval,
                             ValidationReportPtr_t& report,
                             const pinocchio::DeviceData& data);
 
  // Get pairs checked for collision
  const CollisionPairs_t& pairs() const { return m_->pairs; }
 
  // Get pairs checked for collision
  CollisionPairs_t& pairs() { return m_->pairs; }
 
  // Get requests checked for collision
  const CollisionRequests_t& requests() const { return m_->requests; }
 
  // Get requests checked for collision
  CollisionRequests_t& requests() { return m_->requests; }
 
  // Get maximal velocity
  value_type maximalVelocity() const { return maximalVelocity_; }
 
  virtual size_type indexJointA() const { return -1; }
  virtual size_type indexJointB() const { return -1; }
 
  virtual bool removeObjectTo_b(const CollisionObjectConstPtr_t& /*object*/) {
    return false;
  }
  virtual void addCollisionPair(const CollisionObjectConstPtr_t& /*left*/,
                                const CollisionObjectConstPtr_t& /*right*/) {}
 
  virtual std::string name() const = 0;
  virtual std::ostream& print(std::ostream& os) const = 0;
 
 
  value_type securityMargin() const { return m_->requests[0].security_margin; }
  void securityMargin(const value_type& securityMargin) {
    for (auto& request : m_->requests) request.security_margin = securityMargin;
  }
 protected:
  BodyPairCollision(value_type tolerance)
      : IntervalValidation(tolerance), m_(new Model), maximalVelocity_(0) {}
 
  BodyPairCollision(const BodyPairCollision& other)
      : IntervalValidation(other),
        m_(other.m_),
        maximalVelocity_(other.maximalVelocity_) {}
 
  virtual void setReport(ValidationReportPtr_t& report,
                         coal::CollisionResult result,
                         CollisionPair_t _pair) const {
    report = CollisionValidationReportPtr_t(
        new CollisionValidationReport(_pair, result));
  }
 
 private:
  struct Model {
    CollisionPairs_t pairs;
    CollisionRequests_t requests;
  };
  shared_ptr<Model> m_;
 
  mutable vector_t Vb_;
  value_type maximalVelocity_;
 
  virtual value_type computeMaximalVelocity(vector_t& Vb) const = 0;
 
  virtual void setupPath();
 
  value_type collisionFreeInterval(const value_type& t,
                                   const value_type& distanceLowerBound,
                                   value_type& maxVelocity) const;
 
  virtual bool computeDistanceLowerBound(value_type& distanceLowerBound,
                                         ValidationReportPtr_t& report,
                                         const pinocchio::DeviceData& data);
 
};  // class BodyPairCollision
 
inline std::ostream& operator<<(std::ostream& os,
                                const BodyPairCollision& pair) {
  return pair.print(os);
}
}  // namespace continuousValidation
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH