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// |
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// Copyright (c) 2022 INRIA |
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// |
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#ifndef __pinocchio_collision_broadphase_hpp__ |
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#define __pinocchio_collision_broadphase_hpp__ |
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#include <hpp/fcl/broadphase/broadphase_collision_manager.h> |
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#include "pinocchio/multibody/fcl.hpp" |
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#include "pinocchio/algorithm/geometry.hpp" |
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#include "pinocchio/collision/broadphase-manager.hpp" |
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#include "pinocchio/collision/broadphase-callbacks.hpp" |
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namespace pinocchio |
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{ |
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/// |
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/// \brief Calls computeCollision for every active pairs of GeometryData. |
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/// This function assumes that \ref updateGeometryPlacements and broadphase_manager.update() have |
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/// been called first. |
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/// |
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/// \param[in] broadphase_manager broadphase instance for collision detection. |
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/// \param[in] callback callback pointer used for collision detection. |
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/// \param[in] stopAtFirstCollision if true, stop the loop over the collision pairs when the first |
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/// collision is detected. |
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/// |
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/// \warning if stopAtFirstcollision = true, then the collisions vector will |
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/// not be entirely fulfilled (of course). |
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/// |
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template<typename BroadPhaseManagerDerived> |
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bool computeCollisions( |
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BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager, |
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CollisionCallBackBase * callback) |
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{ |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(broadphase_manager.check(callback)); |
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broadphase_manager.collide(callback); |
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callback->done(); |
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return callback->collision; |
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} |
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/// |
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/// \brief Calls computeCollision for every active pairs of GeometryData. |
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/// This function assumes that \ref updateGeometryPlacements and broadphase_manager.update() have |
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/// been called first. |
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/// |
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/// \param[in] broadphase_manager broadphase instance for collision detection. |
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/// \param[in] stopAtFirstCollision if true, stop the loop over the collision pairs when the first |
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/// collision is detected. |
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/// |
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/// \warning if stopAtFirstcollision = true, then the collisions vector will |
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/// not be entirely fulfilled (of course). |
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/// |
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template<typename BroadPhaseManagerDerived> |
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bool computeCollisions( |
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BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager, |
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const bool stopAtFirstCollision = false) |
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{ |
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CollisionCallBackDefault callback( |
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broadphase_manager.getGeometryModel(), broadphase_manager.getGeometryData(), |
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stopAtFirstCollision); |
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return computeCollisions(broadphase_manager, &callback); |
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} |
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/// |
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/// Compute the forward kinematics, update the geometry placements and run the collision detection |
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/// using the broadphase manager. |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
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/// |
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/// \param[in] model robot model (const) |
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/// \param[out] data corresponding data (nonconst) where the forward kinematics results are stored |
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/// \param[in] broadphase_manager broadphase manager for collision detection. |
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/// \param[in] callback callback pointer used for collision detection./// |
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/// \param[in] q robot configuration. |
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/// \param[in] stopAtFirstCollision if true, stop the loop over the collision pairs when the first |
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/// collision is detected. |
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/// |
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/// \warning if stopAtFirstcollision = true, then the collisions vector will |
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/// not be entirely fulfilled (of course). |
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/// \note A similar function is available without model, data and q, not recomputing the forward |
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/// kinematics. |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename BroadPhaseManagerDerived, |
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typename ConfigVectorType> |
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inline bool computeCollisions( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager, |
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CollisionCallBackBase * callback, |
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const Eigen::MatrixBase<ConfigVectorType> & q) |
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{ |
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updateGeometryPlacements( |
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model, data, broadphase_manager.getGeometryModel(), broadphase_manager.getGeometryData(), q); |
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broadphase_manager.update(false); |
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return computeCollisions(broadphase_manager, &callback); |
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} |
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/// |
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/// Compute the forward kinematics, update the geometry placements and run the collision detection |
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/// using the broadphase manager. |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
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/// |
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/// \param[in] model robot model (const) |
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/// \param[out] data corresponding data (nonconst) where the forward kinematics results are stored |
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/// \param[in] broadphase_manager broadphase manager for collision detection. |
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/// \param[in] q robot configuration. |
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/// \param[in] stopAtFirstCollision if true, stop the loop over the collision pairs when the first |
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/// collision is detected. |
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/// |
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/// \warning if stopAtFirstcollision = true, then the collisions vector will |
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/// not be entirely fulfilled (of course). |
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/// \note A similar function is available without model, data and q, not recomputing the forward |
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/// kinematics. |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename BroadPhaseManagerDerived, |
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typename ConfigVectorType> |
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inline bool computeCollisions( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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BroadPhaseManagerBase<BroadPhaseManagerDerived> & broadphase_manager, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const bool stopAtFirstCollision = false) |
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{ |
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updateGeometryPlacements( |
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model, data, broadphase_manager.getGeometryModel(), broadphase_manager.getGeometryData(), q); |
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broadphase_manager.update(false); |
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CollisionCallBackDefault callback( |
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broadphase_manager.getGeometryModel(), broadphase_manager.getGeometryData(), |
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stopAtFirstCollision); |
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return computeCollisions(broadphase_manager, &callback); |
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} |
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} // namespace pinocchio |
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/* --- Details -------------------------------------------------------------------- */ |
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#include "pinocchio/collision/broadphase.hxx" |
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#endif // ifndef __pinocchio_collision_broadphase_hpp__ |
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