solid-solid-collision.hh

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//
// Copyright (c) 2014,2015,2016,2018 CNRS
// Authors: Florent Lamiraux, Joseph Mirabel, Diane Bury
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
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// DAMAGE.
 
#ifndef HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH
#define HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH
 
#include <hpp/core/continuous-validation/body-pair-collision.hh>
 
namespace hpp {
namespace core {
namespace continuousValidation {
struct CoefficientVelocity {
  CoefficientVelocity() : value_(0) {}
  JointPtr_t joint_;
  value_type value_;
};  // struct CoefficientVelocity
typedef std::vector<CoefficientVelocity> CoefficientVelocities_t;
 
class HPP_CORE_DLLAPI SolidSolidCollision : public BodyPairCollision {
 public:
  static SolidSolidCollisionPtr_t create(
      const JointPtr_t& joint_a, const ConstObjectStdVector_t& objects_b,
      value_type tolerance);
 
  static SolidSolidCollisionPtr_t create(const JointPtr_t& joint_a,
                                         const JointPtr_t& joint_b,
                                         value_type tolerance);
 
  static SolidSolidCollisionPtr_t createCopy(
      const SolidSolidCollisionPtr_t& other);
 
  value_type computeMaximalVelocity(vector_t& Vb) const;
 
  bool removeObjectTo_b(const CollisionObjectConstPtr_t& object);
 
  void breakDistance(value_type distance);
 
  std::string name() const;
 
  std::ostream& print(std::ostream& os) const;
 
  void addCollisionPair(const CollisionObjectConstPtr_t& left,
                        const CollisionObjectConstPtr_t& right);
 
  // Get coefficients and joints
  const CoefficientVelocities_t& coefficients() const {
    return m_->coefficients;
  }
 
  const JointPtr_t& joint_a() const { return m_->joint_a; }
  const JointPtr_t& joint_b() const { return m_->joint_b; }
 
  size_type indexJointA() const {
    return (m_->joint_a ? m_->joint_a->index() : 0);
  }
  size_type indexJointB() const {
    return (m_->joint_b ? m_->joint_b->index() : 0);
  }
 
  IntervalValidationPtr_t copy() const;
 
 protected:
  SolidSolidCollision(const JointPtr_t& joint_a, const JointPtr_t& joint_b,
                      value_type tolerance);
 
  SolidSolidCollision(const JointPtr_t& joint_a,
                      const ConstObjectStdVector_t& objects_b,
                      value_type tolerance);
 
  SolidSolidCollision(const SolidSolidCollision& other)
      : BodyPairCollision(other), m_(other.m_) {}
 
  void init(const SolidSolidCollisionWkPtr_t& weak);
 
 private:
  typedef pinocchio::JointIndex JointIndex;
  typedef std::vector<JointIndex> JointIndices_t;
 
  struct Model {
    JointPtr_t joint_a;
    JointPtr_t joint_b;
    CoefficientVelocities_t coefficients;
    CoefficientVelocities_t coefficients_reverse;
    JointIndices_t computeSequenceOfJoints() const;
    CoefficientVelocities_t computeCoefficients(
        const JointIndices_t& joints) const;
    void setCoefficients(const JointIndices_t& joints);
  };
  shared_ptr<Model> m_;
  SolidSolidCollisionWkPtr_t weak_;
};  // class SolidSolidCollision
}  // namespace continuousValidation
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH