collision-object.hh

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//
// Copyright (c) 2016 CNRS
// Author: NMansard from Florent Lamiraux
//
//
 
// 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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// DAMAGE.
 
#ifndef HPP_PINOCCHIO_COLLISION_OBJECT_HH
#define HPP_PINOCCHIO_COLLISION_OBJECT_HH
 
#include <hpp/pinocchio/config.hh>
#include <hpp/pinocchio/deprecated.hh>
#include <hpp/pinocchio/fwd.hh>
#include <map>
#include <pinocchio/multibody/fwd.hpp>
 
namespace pinocchio {
struct GeometryObject;
}
 
namespace hpp {
namespace pinocchio {
typedef ::pinocchio::GeometryObject GeometryObject;
 
class HPP_PINOCCHIO_DLLAPI CollisionObject {
 public:
  typedef std::vector<GeomIndex> GeomIndexList;
  typedef std::map<JointIndex, GeomIndexList> ObjectVec_t;
 
  CollisionObject(DevicePtr_t device, const GeomIndex geom);
 
  CollisionObject(GeomModelPtr_t geomModel, GeomDataPtr_t geomData,
                  const GeomIndex geom);
 
  const std::string& name() const;
 
  const GeometryObject& pinocchio() const;
  GeometryObject& pinocchio();
 
  CollisionGeometryPtr_t geometry() const;
 
  FclConstCollisionObjectPtr_t fcl(const GeomData& data) const;
  FclCollisionObjectPtr_t fcl(GeomData& data) const;
  FclConstCollisionObjectPtr_t fcl() const;
  FclCollisionObjectPtr_t fcl();
 
  FclCollisionObjectPtr_t fcl(DeviceData& d) const;
  FclConstCollisionObjectPtr_t fcl(const DeviceData& d) const;
 
  const JointIndex& jointIndex() const { return jointIndex_; }
 
  JointPtr_t joint();
  JointConstPtr_t joint() const;
 
  const Transform3s& positionInJointFrame() const;
 
  coal::Transform3s getFclTransform() const;
  const Transform3s& getTransform() const;
  const Transform3s& getTransform(const DeviceData& d) const;
 
  const GeomIndex& indexInModel() const { return geomInModelIndex; }
 
  void move(const Transform3s& position);
 
 protected:
  void selfAssert() const;
 
 private:
  GeomData& geomData() const;
  GeomData& geomData(DeviceData& d) const;
  const GeomData& geomData(const DeviceData& d) const;
 
  DevicePtr_t devicePtr;
  GeomModelPtr_t geomModel_;
  // If geomData_ is not null when the object is part of the environment.
  // Otherwise, it is null.
  GeomDataPtr_t geomData_;
  JointIndex jointIndex_;
  GeomIndex geomInModelIndex;  // Index in global model list.
};  // class CollisionObject
}  // namespace pinocchio
}  // namespace hpp
 
#endif  // HPP_PINOCCHIO_COLLISION_OBJECT_HH