geometry.hpp

//
// Copyright (c) 2015-2020 CNRS INRIA
//

#ifndef __pinocchio_multibody_geometry_hpp__
#define __pinocchio_multibody_geometry_hpp__

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

#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 ::pinocchio::GeometryObject GeometryObject;
    typedef PINOCCHIO_ALIGNED_STD_VECTOR(GeometryObject) GeometryObjectVector;
    typedef std::vector<CollisionPair> CollisionPairVector;
    
    typedef pinocchio::GeomIndex GeomIndex;
  
    GeometryModel()
    : ngeoms(0)
    , geometryObjects()
    , collisionPairs()
    {}
    
    ~GeometryModel() {};
    
    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;

    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;
    

    bool operator==(const GeometryModel & other) const
    {
      return
         ngeoms == other.ngeoms
      && geometryObjects == other.geometryObjects
      && collisionPairs == other.collisionPairs
      ;
    }
    
    bool operator!=(const GeometryModel & other) const
    {
      return !(*this == other);
    }

    friend std::ostream& operator<<(std::ostream & os,
                                    const GeometryModel & model_geom);
    
    Index ngeoms;

    GeometryObjectVector geometryObjects;
    CollisionPairVector collisionPairs;
    
  }; // struct GeometryModel

  struct GeometryData
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    
    typedef double Scalar;
    enum { Options = 0 };
    
    typedef SE3Tpl<Scalar,Options> SE3;
    typedef std::vector<GeomIndex> GeomIndexList;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMg;

    std::vector<bool> activeCollisionPairs;

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

    fcl::DistanceRequest distanceRequest PINOCCHIO_DEPRECATED;

    std::vector<fcl::DistanceRequest> distanceRequests;

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

    std::vector<fcl::CollisionRequest> collisionRequests;

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

    std::vector<double> radius;

    PairIndex collisionPairIndex;
#endif // PINOCCHIO_WITH_HPP_FCL   

    std::map<JointIndex,GeomIndexList>  innerObjects;

    std::map<JointIndex,GeomIndexList>  outerObjects;

    GeometryData(const GeometryModel & geomModel);
    GeometryData(const GeometryData & other);
    ~GeometryData();

    void fillInnerOuterObjectMaps(const GeometryModel & geomModel);
    
    void activateCollisionPair(const PairIndex pairId);

    void deactivateCollisionPair(const PairIndex pairId);

    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__