Directory: | ./ |
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File: | src/distance-between-objects.cc |
Date: | 2024-08-10 11:29:48 |
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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/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 | ✗ | fcl::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 | ✗ | fcl::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 |