| Directory: | ./ |
|---|---|
| File: | include/pinocchio/algorithm/geometry.hxx |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 13 | 32 | 40.6% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2022 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_algo_geometry_hxx__ | ||
| 6 | #define __pinocchio_algo_geometry_hxx__ | ||
| 7 | |||
| 8 | #include <boost/foreach.hpp> | ||
| 9 | #include <sstream> | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | /* --- GEOMETRY PLACEMENTS -------------------------------------------------------- */ | ||
| 14 | /* --- GEOMETRY PLACEMENTS -------------------------------------------------------- */ | ||
| 15 | /* --- GEOMETRY PLACEMENTS -------------------------------------------------------- */ | ||
| 16 | template< | ||
| 17 | typename Scalar, | ||
| 18 | int Options, | ||
| 19 | template<typename, int> | ||
| 20 | class JointCollectionTpl, | ||
| 21 | typename ConfigVectorType> | ||
| 22 | 4023 | inline void updateGeometryPlacements( | |
| 23 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 24 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 25 | const GeometryModel & geom_model, | ||
| 26 | GeometryData & geom_data, | ||
| 27 | const Eigen::MatrixBase<ConfigVectorType> & q) | ||
| 28 | { | ||
| 29 |
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4023 | assert(model.check(data) && "data is not consistent with model."); |
| 30 | |||
| 31 | 4023 | forwardKinematics(model, data, q); | |
| 32 | 4023 | updateGeometryPlacements(model, data, geom_model, geom_data); | |
| 33 | 4023 | } | |
| 34 | |||
| 35 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 36 | 4030 | inline void updateGeometryPlacements( | |
| 37 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 38 | const DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 39 | const GeometryModel & geom_model, | ||
| 40 | GeometryData & geom_data) | ||
| 41 | { | ||
| 42 | PINOCCHIO_UNUSED_VARIABLE(model); | ||
| 43 |
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4030 | assert(model.check(data) && "data is not consistent with model."); |
| 44 | |||
| 45 |
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84631 | for (GeomIndex i = 0; i < (GeomIndex)geom_model.ngeoms; ++i) |
| 46 | { | ||
| 47 | 80601 | const Model::JointIndex joint_id = geom_model.geometryObjects[i].parentJoint; | |
| 48 |
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80601 | if (joint_id > 0) |
| 49 |
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80588 | geom_data.oMg[i] = (data.oMi[joint_id] * geom_model.geometryObjects[i].placement); |
| 50 | else | ||
| 51 | 13 | geom_data.oMg[i] = geom_model.geometryObjects[i].placement; | |
| 52 | } | ||
| 53 | 4030 | } | |
| 54 | |||
| 55 | /* --- APPEND GEOMETRY MODEL ----------------------------------------------------------- */ | ||
| 56 | |||
| 57 | ✗ | inline void appendGeometryModel(GeometryModel & geom_model1, const GeometryModel & geom_model2) | |
| 58 | { | ||
| 59 | ✗ | assert(geom_model1.ngeoms == geom_model1.geometryObjects.size()); | |
| 60 | ✗ | Index nGeom1 = geom_model1.geometryObjects.size(); | |
| 61 | ✗ | Index nColPairs1 = geom_model1.collisionPairs.size(); | |
| 62 | ✗ | assert(geom_model2.ngeoms == geom_model2.geometryObjects.size()); | |
| 63 | ✗ | Index nGeom2 = geom_model2.geometryObjects.size(); | |
| 64 | ✗ | Index nColPairs2 = geom_model2.collisionPairs.size(); | |
| 65 | |||
| 66 | /// Append the geometry objects and geometry positions | ||
| 67 | ✗ | geom_model1.geometryObjects.insert( | |
| 68 | ✗ | geom_model1.geometryObjects.end(), geom_model2.geometryObjects.begin(), | |
| 69 | geom_model2.geometryObjects.end()); | ||
| 70 | ✗ | geom_model1.ngeoms += nGeom2; | |
| 71 | |||
| 72 | /// 1. copy the collision pairs and update geom_data1 accordingly. | ||
| 73 | ✗ | geom_model1.collisionPairs.reserve(nColPairs1 + nColPairs2 + nGeom1 * nGeom2); | |
| 74 | ✗ | for (Index i = 0; i < nColPairs2; ++i) | |
| 75 | { | ||
| 76 | ✗ | const CollisionPair & cp = geom_model2.collisionPairs[i]; | |
| 77 | ✗ | geom_model1.collisionPairs.push_back(CollisionPair(cp.first + nGeom1, cp.second + nGeom1)); | |
| 78 | } | ||
| 79 | |||
| 80 | /// 2. add the collision pairs between geom_model1 and geom_model2. | ||
| 81 | ✗ | for (Index i = 0; i < nGeom1; ++i) | |
| 82 | { | ||
| 83 | ✗ | Index parent_i = geom_model1.geometryObjects[i].parentJoint; | |
| 84 | ✗ | for (Index j = nGeom1; j < nGeom1 + nGeom2; ++j) | |
| 85 | { | ||
| 86 | ✗ | if (parent_i != geom_model1.geometryObjects[j].parentJoint) | |
| 87 | ✗ | geom_model1.collisionPairs.push_back(CollisionPair(i, j)); | |
| 88 | } | ||
| 89 | } | ||
| 90 | } | ||
| 91 | |||
| 92 | } // namespace pinocchio | ||
| 93 | |||
| 94 | #endif // ifnded __pinocchio_algo_geometry_hxx__ | ||
| 95 |