multibody/geometry.hpp

//
// Copyright (c) 2015-2018 CNRS
//

#ifndef __pinocchio_multibody_geometry_hpp__
#define __pinocchio_multibody_geometry_hpp__

#include "pinocchio/multibody/fcl.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/container/aligned-vector.hpp"

#include <iostream>

#include <boost/foreach.hpp>
#include <map>
#include <list>
#include <utility>
#include <assert.h>

namespace pinocchio
{
  
  struct GeometryModel
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    
    typedef double Scalar;
    enum { Options = 0 };
    
    typedef SE3Tpl<Scalar,Options> SE3;
    
    typedef container::aligned_vector<GeometryObject> GeometryObjectVector;
    typedef std::vector<CollisionPair> CollisionPairVector;
    
    typedef pinocchio::GeomIndex GeomIndex;
    
    Index ngeoms;

    GeometryObjectVector geometryObjects;
    CollisionPairVector collisionPairs;
  
    GeometryModel()
    : ngeoms(0)
    , geometryObjects()
    , collisionPairs()
    { 
      const std::size_t num_max_collision_pairs = (ngeoms * (ngeoms-1))/2;
      collisionPairs.reserve(num_max_collision_pairs);
    }

    ~GeometryModel() {};

    template<typename S2, int O2, template<typename,int> class _JointCollectionTpl>
    PINOCCHIO_DEPRECATED
    GeomIndex addGeometryObject(GeometryObject object,
                                const ModelTpl<S2,O2,_JointCollectionTpl> & model,
                                const bool autofillJointParent)
    {
      if(autofillJointParent)
        return addGeometryObject(object,model);
      else
        return addGeometryObject(object);
    }
    
    template<typename S2, int O2, template<typename,int> class _JointCollectionTpl>
    GeomIndex addGeometryObject(const GeometryObject & object,
                                const ModelTpl<S2,O2,_JointCollectionTpl> & model);
    
    GeomIndex addGeometryObject(const GeometryObject & object);

    GeomIndex getGeometryId(const std::string & name) const;

    
    bool existGeometryName(const std::string & name) const;


    PINOCCHIO_DEPRECATED const std::string & getGeometryName(const GeomIndex index) const;

#ifdef PINOCCHIO_WITH_HPP_FCL
    void addCollisionPair(const CollisionPair & pair);
    
    void addAllCollisionPairs();
   
    void removeCollisionPair(const CollisionPair& pair);
    
    void removeAllCollisionPairs ();
   
    bool existCollisionPair(const CollisionPair & pair) const;
    
    PairIndex findCollisionPair(const CollisionPair & pair) const;
    
#endif // PINOCCHIO_WITH_HPP_FCL

    friend std::ostream& operator<<(std::ostream & os, const GeometryModel & model_geom);
  }; // struct GeometryModel

  struct GeometryData
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    
    typedef double Scalar;
    enum { Options = 0 };
    
    typedef SE3Tpl<Scalar,Options> SE3;
    
    container::aligned_vector<SE3> oMg;

#ifdef PINOCCHIO_WITH_HPP_FCL
    std::vector<fcl::CollisionObject> collisionObjects;

    std::vector<bool> activeCollisionPairs;

    fcl::DistanceRequest distanceRequest;

    std::vector<fcl::DistanceResult> distanceResults;
    
    fcl::CollisionRequest collisionRequest;

    std::vector<fcl::CollisionResult> collisionResults;

    std::vector<double> radius;

    PairIndex collisionPairIndex;

    typedef std::vector<GeomIndex> GeomIndexList;

    std::map < JointIndex, GeomIndexList >  innerObjects;

    std::map < JointIndex, GeomIndexList >  outerObjects;
#endif // PINOCCHIO_WITH_HPP_FCL   

    GeometryData(const GeometryModel & geomModel);
    ~GeometryData() {};

#ifdef PINOCCHIO_WITH_HPP_FCL

    void fillInnerOuterObjectMaps(const GeometryModel & geomModel);

    PINOCCHIO_DEPRECATED
    void activateCollisionPair(const PairIndex pairId, const bool flag);
    
    void activateCollisionPair(const PairIndex pairId);

    void deactivateCollisionPair(const PairIndex pairId);

#endif //PINOCCHIO_WITH_HPP_FCL
    friend std::ostream & operator<<(std::ostream & os, const GeometryData & geomData);
    
  }; // struct GeometryData

} // namespace pinocchio

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "pinocchio/multibody/geometry.hxx"

#endif // ifndef __pinocchio_multibody_geometry_hpp__