Directory: | ./ |
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File: | src/collision-validation.cc |
Date: | 2024-08-10 11:29:48 |
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Lines: | 31 | 45 | 68.9% |
Branches: | 22 | 68 | 32.4% |
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1 | // | ||
2 | // Copyright (c) 2014 CNRS | ||
3 | // Authors: Florent Lamiraux | ||
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 | #include <hpp/fcl/collision.h> | ||
31 | |||
32 | #include <hpp/core/collision-validation-report.hh> | ||
33 | #include <hpp/core/collision-validation.hh> | ||
34 | #include <hpp/core/relative-motion.hh> | ||
35 | #include <hpp/pinocchio/body.hh> | ||
36 | #include <hpp/pinocchio/collision-object.hh> | ||
37 | #include <hpp/pinocchio/configuration.hh> | ||
38 | #include <hpp/pinocchio/device.hh> | ||
39 | #include <pinocchio/multibody/geometry.hpp> | ||
40 | |||
41 | namespace hpp { | ||
42 | namespace core { | ||
43 | 75 | CollisionValidationPtr_t CollisionValidation::create(const DevicePtr_t& robot) { | |
44 |
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75 | CollisionValidation* ptr = new CollisionValidation(robot); |
45 | 75 | return CollisionValidationPtr_t(ptr); | |
46 | } | ||
47 | |||
48 | 49386 | bool CollisionValidation::validate(const Configuration_t& config, | |
49 | ValidationReportPtr_t& validationReport) { | ||
50 |
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49386 | pinocchio::DeviceSync device(robot_); |
51 |
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49387 | device.currentConfiguration(config); |
52 |
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49385 | device.computeForwardKinematics(pinocchio::JOINT_POSITION); |
53 |
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49384 | device.updateGeometryPlacements(); |
54 | |||
55 |
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49385 | fcl::CollisionResult collisionResult; |
56 | 49386 | std::size_t iPair = 0; | |
57 | 49386 | const CollisionPairs_t* pairs(&cPairs_); | |
58 | 49386 | CollisionRequests_t* requests(&cRequests_); | |
59 | |||
60 |
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49386 | bool collide = ObstacleUser::collide(cPairs_, cRequests_, collisionResult, |
61 | iPair, device.d()); | ||
62 |
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49386 | if (!collide && checkParameterized_) { |
63 | ✗ | collide = ObstacleUser::collide(pPairs_, pRequests_, collisionResult, iPair, | |
64 | device.d()); | ||
65 | ✗ | pairs = &pPairs_; | |
66 | ✗ | requests = &pRequests_; | |
67 | } | ||
68 |
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49386 | if (collide) { |
69 | CollisionValidationReportPtr_t report( | ||
70 |
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109 | new CollisionValidationReport((*pairs)[iPair], collisionResult)); |
71 | |||
72 |
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109 | if (computeAllContacts_) { |
73 | // create report with the first collision | ||
74 | AllCollisionsValidationReportPtr_t allReport( | ||
75 | ✗ | new AllCollisionsValidationReport((*pairs)[iPair], collisionResult)); | |
76 | ✗ | allReport->collisionReports.push_back(report); | |
77 | // then loop over all the remaining pairs : | ||
78 | ✗ | ++iPair; | |
79 | ✗ | for (; iPair < pairs->size(); ++iPair) { | |
80 | ✗ | collisionResult.clear(); | |
81 | ✗ | if ((*pairs)[iPair].collide(device.d(), (*requests)[iPair], | |
82 | ✗ | collisionResult) != 0) { | |
83 | CollisionValidationReportPtr_t report( | ||
84 | ✗ | new CollisionValidationReport((*pairs)[iPair], collisionResult)); | |
85 | ✗ | allReport->collisionReports.push_back(report); | |
86 | } | ||
87 | } | ||
88 | ✗ | validationReport = allReport; | |
89 | ✗ | } else { | |
90 | 109 | validationReport = report; | |
91 | } | ||
92 | 109 | return false; | |
93 | 109 | } | |
94 | 49277 | return true; | |
95 | 49386 | } | |
96 | |||
97 | 75 | CollisionValidation::CollisionValidation(const DevicePtr_t& robot) | |
98 | : ObstacleUser(robot), | ||
99 | 75 | robot_(robot), | |
100 | 75 | checkParameterized_(false), | |
101 |
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75 | computeAllContacts_(false) { |
102 |
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75 | fcl::CollisionRequest req(fcl::NO_REQUEST, 1); |
103 | 75 | req.enable_cached_gjk_guess = true; | |
104 |
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75 | defaultRequest() = req; |
105 |
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75 | addRobotCollisionPairs(); |
106 | 75 | } | |
107 | |||
108 | } // namespace core | ||
109 | } // namespace hpp | ||
110 |