| Directory: | ./ |
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| File: | include/hpp/core/collision-pair.hh |
| Date: | 2024-08-10 11:29:48 |
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| 1 | // | ||
| 2 | // Copyright (c) 2021 CNRS | ||
| 3 | // Authors: Joseph Mirabel | ||
| 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_COLLISION_PAIR_HH | ||
| 31 | #define HPP_CORE_COLLISION_PAIR_HH | ||
| 32 | |||
| 33 | #include <hpp/fcl/collision.h> | ||
| 34 | |||
| 35 | #include <hpp/core/fwd.hh> | ||
| 36 | #include <hpp/pinocchio/collision-object.hh> | ||
| 37 | #include <hpp/pinocchio/device-data.hh> | ||
| 38 | #include <pinocchio/spatial/fcl-pinocchio-conversions.hpp> | ||
| 39 | |||
| 40 | namespace hpp { | ||
| 41 | namespace core { | ||
| 42 | |||
| 43 | typedef std::vector<fcl::CollisionRequest> CollisionRequests_t; | ||
| 44 | |||
| 45 | struct CollisionPair { | ||
| 46 | CollisionObjectConstPtr_t first; | ||
| 47 | CollisionObjectConstPtr_t second; | ||
| 48 | fcl::ComputeCollision computeCollision; | ||
| 49 | |||
| 50 | 5283 | inline CollisionPair(CollisionObjectConstPtr_t f, CollisionObjectConstPtr_t s) | |
| 51 | 5283 | : first(f), | |
| 52 | 5283 | second(s), | |
| 53 |
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5283 | computeCollision(f->geometry().get(), s->geometry().get()) {} |
| 54 | |||
| 55 | ✗ | inline auto collide(fcl::CollisionRequest& request, | |
| 56 | fcl::CollisionResult& result) const | ||
| 57 | // decltype(computeCollision(tf1,tf2,request,result)) | ||
| 58 | { | ||
| 59 | ✗ | assert(!first->getTransform().translation().hasNaN()); | |
| 60 | ✗ | assert(!first->getTransform().rotation().hasNaN()); | |
| 61 | ✗ | assert(!second->getTransform().translation().hasNaN()); | |
| 62 | ✗ | assert(!second->getTransform().rotation().hasNaN()); | |
| 63 | ✗ | return computeCollision(first->getFclTransform(), second->getFclTransform(), | |
| 64 | ✗ | request, result); | |
| 65 | } | ||
| 66 | |||
| 67 | 286323 | inline auto collide(const pinocchio::DeviceData& d, | |
| 68 | fcl::CollisionRequest& request, | ||
| 69 | fcl::CollisionResult& result) const | ||
| 70 | // decltype(computeCollision(tf1,tf2,request,result)) | ||
| 71 | { | ||
| 72 | using ::pinocchio::toFclTransform3f; | ||
| 73 |
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286323 | assert(!first->getTransform(d).translation().hasNaN()); |
| 74 |
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286338 | assert(!first->getTransform(d).rotation().hasNaN()); |
| 75 |
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286366 | assert(!second->getTransform(d).translation().hasNaN()); |
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286319 | assert(!second->getTransform(d).rotation().hasNaN()); |
| 77 |
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286358 | return computeCollision(toFclTransform3f(first->getTransform(d)), |
| 78 | 572682 | toFclTransform3f(second->getTransform(d)), request, | |
| 79 | 572644 | result); | |
| 80 | } | ||
| 81 | }; | ||
| 82 | |||
| 83 | } // namespace core | ||
| 84 | } // namespace hpp | ||
| 85 | #endif // HPP_CORE_COLLISION_PAIR_HH | ||
| 86 |