| Directory: | ./ |
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| File: | include/hpp/core/continuous-validation/body-pair-collision.hh |
| Date: | 2024-12-13 16:14:03 |
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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 <coal/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 | 88711 | 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 | 88799 | 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 | coal::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 |