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File: | include/hpp/core/continuous-validation/body-pair-collision.hh |
Date: | 2024-08-10 11:29:48 |
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1 | // | ||
2 | // Copyright (c) 2014,2015,2016,2018 CNRS | ||
3 | // Authors: Florent Lamiraux, Joseph Mirabel, Diane Bury | ||
4 | // | ||
5 | |||
6 | // Redistribution and use in source and binary forms, with or without | ||
7 | // modification, are permitted provided that the following conditions are | ||
8 | // met: | ||
9 | // | ||
10 | // 1. Redistributions of source code must retain the above copyright | ||
11 | // notice, this list of conditions and the following disclaimer. | ||
12 | // | ||
13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
14 | // notice, this list of conditions and the following disclaimer in the | ||
15 | // documentation and/or other materials provided with the distribution. | ||
16 | // | ||
17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
28 | // DAMAGE. | ||
29 | |||
30 | #ifndef HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH | ||
31 | #define HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH | ||
32 | |||
33 | #include <hpp/fcl/collision_data.h> | ||
34 | |||
35 | #include <boost/icl/continuous_interval.hpp> | ||
36 | #include <boost/icl/interval_set.hpp> | ||
37 | #include <hpp/core/collision-pair.hh> | ||
38 | #include <hpp/core/collision-validation-report.hh> | ||
39 | #include <hpp/core/continuous-validation/interval-validation.hh> | ||
40 | |||
41 | namespace hpp { | ||
42 | namespace core { | ||
43 | namespace continuousValidation { | ||
44 | /// Computation of collision-free sub-intervals of a path. | ||
45 | /// | ||
46 | /// This class aims at validating a path for the absence of collision | ||
47 | /// between two bodies of a robot, or between a robot body and the | ||
48 | /// environment. Bodies are considered as rigid. | ||
49 | /// | ||
50 | /// If the bodies are part of an open kinematic chain, the | ||
51 | /// computations are performed by class SolidSolidCollision. | ||
52 | /// | ||
53 | /// With this abstraction, other bodies (like legs of a parallel robot) | ||
54 | /// can also be checked for collision. In this case, the specialized | ||
55 | /// class needs to implement method \link | ||
56 | /// BodyPairCollision::computeMaximalVelocity computeMaximalVelocity | ||
57 | /// \endlink, taking into account the constrained motion of the legs | ||
58 | /// implied by the closure of the kinematic chain. | ||
59 | /// | ||
60 | /// See <a href="continuous-validation.pdf"> this document </a> | ||
61 | /// for details. | ||
62 | class BodyPairCollision : public IntervalValidation { | ||
63 | public: | ||
64 | /// Validate interval centered on a path parameter | ||
65 | /// \param t parameter value in the path interval of definition | ||
66 | /// \param[in,out] interval as input, interval over which | ||
67 | /// collision checking must be performed. | ||
68 | /// As output, interval over which pair is collision-free, | ||
69 | /// not necessarily included in definition interval. | ||
70 | /// \param report the collision validation report | ||
71 | /// \return true if the body pair is collision free for this parameter | ||
72 | /// value, false if the body pair is in collision. | ||
73 | /// \note object should be in the positions defined by the configuration | ||
74 | /// of parameter t on the path. | ||
75 | bool validateConfiguration(const value_type& t, interval_t& interval, | ||
76 | ValidationReportPtr_t& report, | ||
77 | const pinocchio::DeviceData& data); | ||
78 | |||
79 | // Get pairs checked for collision | ||
80 | const CollisionPairs_t& pairs() const { return m_->pairs; } | ||
81 | |||
82 | // Get pairs checked for collision | ||
83 | 82364 | CollisionPairs_t& pairs() { return m_->pairs; } | |
84 | |||
85 | // Get requests checked for collision | ||
86 | const CollisionRequests_t& requests() const { return m_->requests; } | ||
87 | |||
88 | // Get requests checked for collision | ||
89 | 82463 | CollisionRequests_t& requests() { return m_->requests; } | |
90 | |||
91 | // Get maximal velocity | ||
92 | value_type maximalVelocity() const { return maximalVelocity_; } | ||
93 | |||
94 | /// Returns joint A index or -1 if no such joint exists. | ||
95 | ✗ | virtual size_type indexJointA() const { return -1; } | |
96 | /// Returns joint B index or -1 if no such joint exists. | ||
97 | ✗ | virtual size_type indexJointB() const { return -1; } | |
98 | |||
99 | ✗ | virtual bool removeObjectTo_b(const CollisionObjectConstPtr_t& /*object*/) { | |
100 | ✗ | return false; | |
101 | } | ||
102 | ✗ | virtual void addCollisionPair(const CollisionObjectConstPtr_t& /*left*/, | |
103 | ✗ | const CollisionObjectConstPtr_t& /*right*/) {} | |
104 | |||
105 | virtual std::string name() const = 0; | ||
106 | virtual std::ostream& print(std::ostream& os) const = 0; | ||
107 | |||
108 | /// \name Security margin | ||
109 | /// \{ | ||
110 | |||
111 | /// Get security margin of the first pair of object. | ||
112 | value_type securityMargin() const { return m_->requests[0].security_margin; } | ||
113 | /// Set security margin | ||
114 | ✗ | void securityMargin(const value_type& securityMargin) { | |
115 | ✗ | for (auto& request : m_->requests) request.security_margin = securityMargin; | |
116 | } | ||
117 | /// \} | ||
118 | protected: | ||
119 | /// Constructor of body pair collision | ||
120 | /// | ||
121 | /// \param tolerance allowed penetration should be positive | ||
122 | 49 | BodyPairCollision(value_type tolerance) | |
123 |
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49 | : IntervalValidation(tolerance), m_(new Model), maximalVelocity_(0) {} |
124 | |||
125 | /// Copy constructor | ||
126 | 153 | BodyPairCollision(const BodyPairCollision& other) | |
127 | 153 | : IntervalValidation(other), | |
128 | 153 | m_(other.m_), | |
129 |
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153 | maximalVelocity_(other.maximalVelocity_) {} |
130 | |||
131 | 95 | virtual void setReport(ValidationReportPtr_t& report, | |
132 | fcl::CollisionResult result, | ||
133 | CollisionPair_t _pair) const { | ||
134 | 190 | report = CollisionValidationReportPtr_t( | |
135 |
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190 | new CollisionValidationReport(_pair, result)); |
136 | 95 | } | |
137 | |||
138 | private: | ||
139 | struct Model { | ||
140 | CollisionPairs_t pairs; | ||
141 | /// \todo The collision request is not part of the model since the | ||
142 | /// request gjk guess is updated at each collision check. | ||
143 | CollisionRequests_t requests; | ||
144 | }; | ||
145 | shared_ptr<Model> m_; | ||
146 | |||
147 | mutable vector_t Vb_; | ||
148 | value_type maximalVelocity_; | ||
149 | |||
150 | /// Compute maximal velocity for a given velocity bound | ||
151 | /// \param Vb velocity | ||
152 | virtual value_type computeMaximalVelocity(vector_t& Vb) const = 0; | ||
153 | |||
154 | /// Compute the maximal velocity along the path | ||
155 | /// To be called after a new path has been set | ||
156 | virtual void setupPath(); | ||
157 | |||
158 | /// Compute a collision free interval around t given a lower bound of | ||
159 | /// the distance to obstacle. | ||
160 | /// \param t the time in the path to test for a collision free interval | ||
161 | /// \return distanceLowerBound the interval half length | ||
162 | /// \retval maxVelocity the maximum velocity reached during this interval | ||
163 | value_type collisionFreeInterval(const value_type& t, | ||
164 | const value_type& distanceLowerBound, | ||
165 | value_type& maxVelocity) const; | ||
166 | |||
167 | /// Compute a lower bound of the distance between the bodies | ||
168 | /// \retval distanceLowerBound | ||
169 | /// \retval report the collision validation report | ||
170 | /// \return true if the bodies are not in collision, else false | ||
171 | virtual bool computeDistanceLowerBound(value_type& distanceLowerBound, | ||
172 | ValidationReportPtr_t& report, | ||
173 | const pinocchio::DeviceData& data); | ||
174 | |||
175 | }; // class BodyPairCollision | ||
176 | |||
177 | inline std::ostream& operator<<(std::ostream& os, | ||
178 | const BodyPairCollision& pair) { | ||
179 | return pair.print(os); | ||
180 | } | ||
181 | } // namespace continuousValidation | ||
182 | } // namespace core | ||
183 | } // namespace hpp | ||
184 | #endif // HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH | ||
185 |