| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // Copyright (c) 2014, LAAS-CNRS | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #include "hpp/manipulation/srdf/factories/contact.hh" | ||
| 30 | |||
| 31 | #include <hpp/manipulation/device.hh> | ||
| 32 | #include <hpp/pinocchio/body.hh> | ||
| 33 | #include <hpp/pinocchio/collision-object.hh> | ||
| 34 | #include <hpp/pinocchio/joint.hh> | ||
| 35 | #include <hpp/util/debug.hh> | ||
| 36 | #include <hpp/util/pointer.hh> | ||
| 37 | #include <pinocchio/multibody/geometry.hpp> | ||
| 38 | #include <pinocchio/multibody/model.hpp> | ||
| 39 | |||
| 40 | namespace hpp { | ||
| 41 | namespace manipulation { | ||
| 42 | namespace srdf { | ||
| 43 | ✗ | void ContactFactory::finishTags() { | |
| 44 | ✗ | DevicePtr_t device = HPP_DYNAMIC_PTR_CAST(Device, root()->device()); | |
| 45 | ✗ | if (!device) { | |
| 46 | hppDout(error, "Failed to create contacts"); | ||
| 47 | ✗ | return; | |
| 48 | } | ||
| 49 | ✗ | const pinocchio::Model& model = device->model(); | |
| 50 | ✗ | const pinocchio::GeomModel& geomModel = device->geomModel(); | |
| 51 | |||
| 52 | /// Get the link | ||
| 53 | ✗ | ObjectFactory* o = NULL; | |
| 54 | ✗ | getChildOfType("link", o); | |
| 55 | ✗ | linkName_ = root()->prependPrefix(o->name()); | |
| 56 | |||
| 57 | /// Build joint | ||
| 58 | ✗ | if (!model.existBodyName(linkName_)) | |
| 59 | ✗ | throw std::invalid_argument("Link " + linkName_ + | |
| 60 | ✗ | " not found. Cannot create contact"); | |
| 61 | const ::pinocchio::Frame& linkFrame = | ||
| 62 | ✗ | model.frames[model.getFrameId(linkName_)]; | |
| 63 | ✗ | assert(linkFrame.type == ::pinocchio::BODY); | |
| 64 | ✗ | JointPtr_t joint(Joint::create(device, linkFrame.parent)); | |
| 65 | |||
| 66 | ✗ | Transform3s M; | |
| 67 | ✗ | M.setIdentity(); | |
| 68 | ✗ | if (o->hasAttribute("index")) { | |
| 69 | ✗ | throw std::invalid_argument("attribute index is unsupported yet"); | |
| 70 | // If there is an index, we consider the position are given relatively | ||
| 71 | // to the "index"th collision object, | ||
| 72 | objectName_ = linkName_ + "_" + o->getAttribute("index"); | ||
| 73 | /// In this case, coordinates are expressed in the body frame. | ||
| 74 | pinocchio::GeomIndex id = geomModel.getGeometryId(objectName_); | ||
| 75 | if (id < geomModel.geometryObjects.size()) { | ||
| 76 | hppDout(error, | ||
| 77 | "Geometry " << objectName_ << " not found in link " << linkName_); | ||
| 78 | } else { | ||
| 79 | M = geomModel.geometryObjects[id].placement; | ||
| 80 | } | ||
| 81 | } else { | ||
| 82 | // If there is no index, the position are relative to the link. | ||
| 83 | ✗ | M = linkFrame.placement; | |
| 84 | } | ||
| 85 | |||
| 86 | ✗ | getChildOfType("point", o); | |
| 87 | ✗ | PointFactory* pts = o->as<PointFactory>(); | |
| 88 | |||
| 89 | /// First build the sequence of points | ||
| 90 | ✗ | const PointFactory::OutType& v = pts->values(); | |
| 91 | ✗ | if (v.size() % 3 != 0) | |
| 92 | ✗ | throw std::length_error("Point sequence size should be a multiple of 3."); | |
| 93 | ✗ | std::vector<vector3_t> points; | |
| 94 | ✗ | for (size_t i = 0; i < v.size(); i += 3) | |
| 95 | ✗ | points.push_back(M.act(vector3_t(v[i], v[i + 1], v[i + 2]))); | |
| 96 | |||
| 97 | try { | ||
| 98 | /// Construct shapes | ||
| 99 | ✗ | getChildOfType("shape", o); | |
| 100 | ✗ | ShapeFactory* shapes = o->as<ShapeFactory>(); | |
| 101 | |||
| 102 | ✗ | const ShapeFactory::OutType& shapeIdxs = shapes->values(); | |
| 103 | ✗ | std::size_t i_shape = 0; | |
| 104 | ✗ | while (i_shape < shapeIdxs.size()) { | |
| 105 | ✗ | if (i_shape + shapeIdxs[i_shape] > shapeIdxs.size()) | |
| 106 | throw std::out_of_range( | ||
| 107 | "shape should be a sequence of unsigned " | ||
| 108 | ✗ | "integer: N iPoints_1 ... iPoints_N M iPoints_1 ... iPoints_M"); | |
| 109 | ✗ | Shape_t shape(shapeIdxs[i_shape]); | |
| 110 | ✗ | for (size_t i = 1; i < shapeIdxs[i_shape] + 1; ++i) | |
| 111 | ✗ | shape[i - 1] = points[shapeIdxs[i_shape + i]]; | |
| 112 | ✗ | i_shape += shapeIdxs[i_shape] + 1; | |
| 113 | ✗ | shapes_.push_back(JointAndShape_t(joint, shape)); | |
| 114 | ✗ | } | |
| 115 | ✗ | } catch (const std::invalid_argument& e) { | |
| 116 | /// Backward compatibility | ||
| 117 | try { | ||
| 118 | ✗ | getChildOfType("triangle", o); | |
| 119 | ✗ | } catch (const std::invalid_argument& eTri) { | |
| 120 | ✗ | throw std::invalid_argument(e); | |
| 121 | ✗ | } | |
| 122 | ✗ | TriangleFactory* tri = o->as<TriangleFactory>(); | |
| 123 | /// Group points by 3 to form triangle | ||
| 124 | ✗ | const TriangleFactory::OutType& indexes = tri->values(); | |
| 125 | ✗ | if (indexes.size() % 3 != 0) | |
| 126 | throw std::length_error( | ||
| 127 | ✗ | "Triangle sequence size should be a multiple of 3."); | |
| 128 | ✗ | if (*std::max_element(indexes.begin(), indexes.end()) >= points.size()) | |
| 129 | throw std::out_of_range( | ||
| 130 | "triangle should be a sequence of unsigned integer lower than the " | ||
| 131 | ✗ | "number of points."); | |
| 132 | ✗ | for (size_t i_tri = 0; i_tri < indexes.size(); i_tri += 3) { | |
| 133 | /// For each of the point indexes | ||
| 134 | ✗ | shapes_.push_back(JointAndShape_t( | |
| 135 | ✗ | joint, {points[indexes[i_tri]], points[indexes[i_tri + 1]], | |
| 136 | ✗ | points[indexes[i_tri + 2]]})); | |
| 137 | } | ||
| 138 | hppDout(info, | ||
| 139 | "Triangles are deprecated and will be removed." | ||
| 140 | " Use tag shape instead."); | ||
| 141 | ✗ | } | |
| 142 | |||
| 143 | ✗ | device->jointAndShapes.add(root()->prependPrefix(name()), shapes_); | |
| 144 | ✗ | } | |
| 145 | } // namespace srdf | ||
| 146 | } // namespace manipulation | ||
| 147 | } // namespace hpp | ||
| 148 |