collision-object.hh

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//
// Copyright (c) 2016 CNRS
// Author: NMansard from Florent Lamiraux
//
//
// This file is part of hpp-pinocchio
// hpp-pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-pinocchio  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_PINOCCHIO_COLLISION_OBJECT_HH
# define HPP_PINOCCHIO_COLLISION_OBJECT_HH

#include <map>

# include <pinocchio/multibody/fwd.hpp>

# include <hpp/pinocchio/deprecated.hh>
# include <hpp/pinocchio/config.hh>
# include <hpp/pinocchio/fwd.hh>

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 ();
      
      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 Transform3f& positionInJointFrame () const;

      const fcl::Transform3f& getFclTransform () const;
      const Transform3f&      getTransform () const;
      const Transform3f&      getTransform (DeviceData& d) const;

      const GeomIndex& indexInModel () const
      {
        return geomInModelIndex;
      }

      void move (const Transform3f& 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