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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Florent Lamiraux |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_CORE_COLLISION_VALIDATION_REPORT_HH |
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#define HPP_CORE_COLLISION_VALIDATION_REPORT_HH |
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#include <hpp/fcl/collision_data.h> |
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#include <hpp/core/collision-pair.hh> |
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#include <hpp/core/validation-report.hh> |
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#include <hpp/pinocchio/collision-object.hh> |
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#include <hpp/util/indent.hh> |
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namespace hpp { |
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namespace core { |
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/// \addtogroup validation |
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/// \{ |
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/// Validate a configuration with respect to collision |
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/// |
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struct HPP_CORE_DLLAPI CollisionValidationReport : public ValidationReport { |
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CollisionValidationReport() {} |
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CollisionValidationReport(CollisionObjectConstPtr_t o1, |
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CollisionObjectConstPtr_t o2, |
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const fcl::CollisionResult& r) |
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: object1(o1), object2(o2), result(r) {} |
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CollisionValidationReport(const CollisionPair_t& pair, |
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const fcl::CollisionResult& r) |
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: object1(pair.first), object2(pair.second), result(r) {} |
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/// First object in collision |
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CollisionObjectConstPtr_t object1; |
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std::string objectName1; |
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/// Second object in collision |
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CollisionObjectConstPtr_t object2; |
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std::string objectName2; |
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/// fcl collision results |
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fcl::CollisionResult result; |
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/// Write report in a stream |
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virtual std::ostream& print(std::ostream& os) const { |
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os << "Collision between object " |
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<< (object1 ? object1->name() : objectName1) << " and " |
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<< (object2 ? object2->name() : objectName2); |
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return os; |
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} |
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std::pair<std::string, std::string> getObjectNames() const { |
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return std::pair<std::string, std::string>( |
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object1 ? object1->name() : objectName1, |
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object2 ? object2->name() : objectName2); |
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} |
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}; // class CollisionValidationReport |
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/// Validate a configuration with respect to collision |
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/// |
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struct HPP_CORE_DLLAPI AllCollisionsValidationReport |
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: public CollisionValidationReport { |
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AllCollisionsValidationReport() {} |
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AllCollisionsValidationReport(CollisionObjectConstPtr_t o1, |
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CollisionObjectConstPtr_t o2, |
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const fcl::CollisionResult& r) |
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: CollisionValidationReport(o1, o2, r) {} |
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AllCollisionsValidationReport(const CollisionPair_t& pair, |
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const fcl::CollisionResult& r) |
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: CollisionValidationReport(pair, r) {} |
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std::vector<CollisionValidationReportPtr_t> collisionReports; |
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virtual std::ostream& print(std::ostream& os) const { |
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os << " Number of collisions : " << collisionReports.size() << "." |
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<< incendl; |
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for (std::vector<CollisionValidationReportPtr_t>::const_iterator it = |
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collisionReports.begin(); |
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it != collisionReports.end(); ++it) { |
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os << **it << iendl; |
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} |
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return os << decindent; |
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} |
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}; // class AllCollisionsValidationReport |
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/// \} |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_COLLISION_VALIDATION_REPORT_HH |
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