| Directory: | ./ |
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| File: | src/distance-between-objects.cc |
| Date: | 2025-03-10 11:18:21 |
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| Lines: | 15 | 29 | 51.7% |
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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 <coal/distance.h> | ||
| 31 | |||
| 32 | #include <hpp/core/collision-pair.hh> | ||
| 33 | #include <hpp/core/distance-between-objects.hh> | ||
| 34 | #include <hpp/pinocchio/body.hh> | ||
| 35 | #include <hpp/pinocchio/collision-object.hh> | ||
| 36 | #include <hpp/pinocchio/device.hh> | ||
| 37 | #include <hpp/pinocchio/joint.hh> | ||
| 38 | |||
| 39 | namespace hpp { | ||
| 40 | namespace core { | ||
| 41 | 7 | void DistanceBetweenObjects::addObstacle( | |
| 42 | const CollisionObjectConstPtr_t& object) { | ||
| 43 | using pinocchio::DISTANCE; | ||
| 44 |
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22 | for (size_type i = 0; i < robot_->nbJoints(); ++i) { |
| 45 |
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15 | JointConstPtr_t joint = robot_->jointAt(i); |
| 46 |
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15 | BodyPtr_t body = joint->linkedBody(); |
| 47 |
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15 | if (body) { |
| 48 |
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30 | for (size_type j = 0; j < body->nbInnerObjects(); ++j) { |
| 49 |
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15 | collisionPairs_.emplace_back(body->innerObjectAt(j), object); |
| 50 | } | ||
| 51 | } | ||
| 52 | 15 | } | |
| 53 | 7 | } | |
| 54 | |||
| 55 | 10 | void DistanceBetweenObjects::obstacles(const ObjectStdVector_t& obstacles) { | |
| 56 | 10 | for (ObjectStdVector_t::const_iterator itObj = obstacles.begin(); | |
| 57 |
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10 | itObj != obstacles.end(); ++itObj) { |
| 58 | ✗ | addObstacle(*itObj); | |
| 59 | } | ||
| 60 | 10 | } | |
| 61 | |||
| 62 | ✗ | void DistanceBetweenObjects::computeDistances() { | |
| 63 | ✗ | distanceResults_.resize(collisionPairs_.size()); | |
| 64 | ✗ | std::size_t rank = 0; | |
| 65 | ✗ | coal::DistanceRequest distanceRequest(true, 0, 0); | |
| 66 | ✗ | for (CollisionPairs_t::const_iterator itCol = collisionPairs_.begin(); | |
| 67 | ✗ | itCol != collisionPairs_.end(); ++itCol) { | |
| 68 | ✗ | const CollisionObjectConstPtr_t& obj1 = itCol->first; | |
| 69 | ✗ | const CollisionObjectConstPtr_t& obj2 = itCol->second; | |
| 70 | ✗ | distanceResults_[rank].clear(); | |
| 71 | ✗ | coal::distance(obj1->geometry().get(), obj1->getFclTransform(), | |
| 72 | ✗ | obj2->geometry().get(), obj2->getFclTransform(), | |
| 73 | ✗ | distanceRequest, distanceResults_[rank]); | |
| 74 | ✗ | ++rank; | |
| 75 | } | ||
| 76 | } | ||
| 77 | |||
| 78 | 10 | DistanceBetweenObjects::DistanceBetweenObjects(const DevicePtr_t& robot) | |
| 79 | 10 | : robot_(robot) {} | |
| 80 | } // namespace core | ||
| 81 | } // namespace hpp | ||
| 82 |