hpp-fcl  1.7.2
HPP fork of FCL -- The Flexible Collision Library
collision_data.h
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35 
39 #ifndef HPP_FCL_COLLISION_DATA_H
40 #define HPP_FCL_COLLISION_DATA_H
41 
42 #include <vector>
43 #include <set>
44 #include <limits>
45 
47 #include <hpp/fcl/config.hh>
48 #include <hpp/fcl/data_types.h>
49 #include <hpp/fcl/timings.h>
50 
51 namespace hpp
52 {
53 namespace fcl
54 {
55 
58 {
61 
64 
69  int b1;
70 
75  int b2;
76 
79 
82 
85 
87  static const int NONE = -1;
88 
89  Contact() : o1(NULL),
90  o2(NULL),
91  b1(NONE),
92  b2(NONE)
93  {}
94 
95  Contact(const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_) : o1(o1_),
96  o2(o2_),
97  b1(b1_),
98  b2(b2_)
99  {}
100 
101  Contact(const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_,
102  const Vec3f& pos_, const Vec3f& normal_, FCL_REAL depth_) : o1(o1_),
103  o2(o2_),
104  b1(b1_),
105  b2(b2_),
106  normal(normal_),
107  pos(pos_),
108  penetration_depth(depth_)
109  {}
110 
111  bool operator < (const Contact& other) const
112  {
113  if(b1 == other.b1)
114  return b2 < other.b2;
115  return b1 < other.b1;
116  }
117 
118  bool operator == (const Contact& other) const
119  {
120  return o1 == other.o1
121  && o2 == other.o2
122  && b1 == other.b1
123  && b2 == other.b2
124  && normal == other.normal
125  && pos == other.pos
126  && penetration_depth == other.penetration_depth;
127  }
128 
129  bool operator != (const Contact& other) const
130  {
131  return !(*this == other);
132  }
133 };
134 
135 struct QueryResult;
136 
139 {
142 
145 
148 
151 
153  enable_cached_gjk_guess (false),
154  cached_gjk_guess (1,0,0),
155  cached_support_func_guess(support_func_guess_t::Zero()),
156  enable_timings(false)
157  {}
158 
159  void updateGuess(const QueryResult& result);
160 
162  inline bool operator ==(const QueryRequest& other) const
163  {
164  return enable_cached_gjk_guess == other.enable_cached_gjk_guess
165  && cached_gjk_guess == other.cached_gjk_guess
166  && cached_support_func_guess == other.cached_support_func_guess
167  && enable_timings == other.enable_timings;
168  }
169 };
170 
173 {
176 
179 
182 
184  : cached_gjk_guess(Vec3f::Zero())
185  , cached_support_func_guess(support_func_guess_t::Constant(-1))
186  {}
187 };
188 
189 inline void QueryRequest::updateGuess(const QueryResult& result)
190 {
191  if (enable_cached_gjk_guess) {
192  cached_gjk_guess = result.cached_gjk_guess;
193  cached_support_func_guess = result.cached_support_func_guess;
194  }
195 }
196 
197 struct CollisionResult;
198 
201 {
202  CONTACT = 0x00001,
204  NO_REQUEST = 0x01000
205 };
206 
209 {
212 
215 
218 
222 
226 
232 
233  explicit CollisionRequest(const CollisionRequestFlag flag, size_t num_max_contacts_) :
234  num_max_contacts(num_max_contacts_),
235  enable_contact(flag & CONTACT),
236  enable_distance_lower_bound (flag & DISTANCE_LOWER_BOUND),
237  security_margin (0),
238  break_distance (1e-3),
239  distance_upper_bound ((std::numeric_limits<FCL_REAL>::max)())
240  {
241  }
242 
244  num_max_contacts(1),
245  enable_contact(false),
246  enable_distance_lower_bound (false),
247  security_margin (0),
248  break_distance (1e-3),
249  distance_upper_bound ((std::numeric_limits<FCL_REAL>::max)())
250  {
251  }
252 
253  bool isSatisfied(const CollisionResult& result) const;
254 
256  inline bool operator ==(const CollisionRequest& other) const
257  {
258  return QueryRequest::operator==(other)
259  && num_max_contacts == other.num_max_contacts
260  && enable_contact == other.enable_contact
261  && enable_distance_lower_bound == other.enable_distance_lower_bound
262  && security_margin == other.security_margin
263  && break_distance == other.break_distance
264  && distance_upper_bound == other.distance_upper_bound;
265  }
266 };
267 
270 {
271 private:
273  std::vector<Contact> contacts;
274 
275 public:
281 
282 public:
284  : distance_lower_bound ((std::numeric_limits<FCL_REAL>::max)())
285  {
286  }
287 
289  inline void updateDistanceLowerBound (const FCL_REAL& distance_lower_bound_)
290  {
291  if (distance_lower_bound_ < distance_lower_bound)
292  distance_lower_bound = distance_lower_bound_;
293  }
294 
296  inline void addContact(const Contact& c)
297  {
298  contacts.push_back(c);
299  }
300 
302  inline bool operator ==(const CollisionResult& other) const
303  {
304  return contacts == other.contacts
305  && distance_lower_bound == other.distance_lower_bound;
306  }
307 
309  bool isCollision() const
310  {
311  return contacts.size() > 0;
312  }
313 
315  size_t numContacts() const
316  {
317  return contacts.size();
318  }
319 
321  const Contact& getContact(size_t i) const
322  {
323  if(contacts.size() == 0)
324  throw std::invalid_argument("The number of contacts is zero. No Contact can be returned.");
325 
326  if(i < contacts.size())
327  return contacts[i];
328  else
329  return contacts.back();
330  }
331 
333  void getContacts(std::vector<Contact>& contacts_) const
334  {
335  contacts_.resize(contacts.size());
336  std::copy(contacts.begin(), contacts.end(), contacts_.begin());
337  }
338 
339  const std::vector<Contact> & getContacts() const
340  {
341  return contacts;
342  }
343 
345  void clear()
346  {
347  distance_lower_bound = (std::numeric_limits<FCL_REAL>::max)();
348  contacts.clear();
349  distance_lower_bound = (std::numeric_limits<FCL_REAL>::max)();
350  timings.clear();
351  }
352 
355  void swapObjects();
356 };
357 
358 struct DistanceResult;
359 
362 {
365 
367  FCL_REAL rel_err; // relative error, between 0 and 1
368  FCL_REAL abs_err; // absoluate error
369 
373  DistanceRequest(bool enable_nearest_points_ = false,
374  FCL_REAL rel_err_ = 0.0,
375  FCL_REAL abs_err_ = 0.0) :
376  enable_nearest_points(enable_nearest_points_),
377  rel_err(rel_err_),
378  abs_err(abs_err_)
379  {
380  }
381 
382  bool isSatisfied(const DistanceResult& result) const;
383 
385  inline bool operator ==(const DistanceRequest& other) const
386  {
387  return QueryRequest::operator==(other)
388  && enable_nearest_points == other.enable_nearest_points
389  && rel_err == other.rel_err
390  && abs_err == other.abs_err;
391  }
392 };
393 
396 {
397 
398 public:
399 
402 
404  Vec3f nearest_points[2];
405 
408 
411 
414 
419  int b1;
420 
425  int b2;
426 
428  static const int NONE = -1;
429 
430  DistanceResult(FCL_REAL min_distance_ =
431  (std::numeric_limits<FCL_REAL>::max)()):
432  min_distance(min_distance_), o1(NULL), o2(NULL), b1(NONE), b2(NONE)
433  {
434  const Vec3f nan (Vec3f::Constant(std::numeric_limits<FCL_REAL>::quiet_NaN()));
435  nearest_points [0] = nearest_points [1] = normal = nan;
436  }
437 
438 
440  void update(FCL_REAL distance, const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_)
441  {
442  if(min_distance > distance)
443  {
444  min_distance = distance;
445  o1 = o1_;
446  o2 = o2_;
447  b1 = b1_;
448  b2 = b2_;
449  }
450  }
451 
454  const CollisionGeometry* o2_, int b1_, int b2_,
455  const Vec3f& p1, const Vec3f& p2, const Vec3f& normal_)
456  {
457  if(min_distance > distance)
458  {
459  min_distance = distance;
460  o1 = o1_;
461  o2 = o2_;
462  b1 = b1_;
463  b2 = b2_;
464  nearest_points[0] = p1;
465  nearest_points[1] = p2;
466  normal = normal_;
467  }
468  }
469 
471  void update(const DistanceResult& other_result)
472  {
473  if(min_distance > other_result.min_distance)
474  {
475  min_distance = other_result.min_distance;
476  o1 = other_result.o1;
477  o2 = other_result.o2;
478  b1 = other_result.b1;
479  b2 = other_result.b2;
480  nearest_points[0] = other_result.nearest_points[0];
481  nearest_points[1] = other_result.nearest_points[1];
482  normal = other_result.normal;
483  }
484  }
485 
487  void clear()
488  {
489  const Vec3f nan (Vec3f::Constant(std::numeric_limits<FCL_REAL>::quiet_NaN()));
490  min_distance = (std::numeric_limits<FCL_REAL>::max)();
491  o1 = NULL;
492  o2 = NULL;
493  b1 = NONE;
494  b2 = NONE;
495  nearest_points [0] = nearest_points [1] = normal = nan;
496  timings.clear();
497  }
498 
500  inline bool operator ==(const DistanceResult& other) const
501  {
502  bool is_same = min_distance == other.min_distance
503  && nearest_points[0] == other.nearest_points[0]
504  && nearest_points[1] == other.nearest_points[1]
505  && normal == other.normal
506  && o1 == other.o1
507  && o2 == other.o2
508  && b1 == other.b1
509  && b2 == other.b2;
510 
511 // TODO: check also that two GeometryObject are indeed equal.
512  if ((o1 != NULL) ^ (other.o1 != NULL)) return false;
513  is_same &= (o1 == other.o1);
514 // else if (o1 != NULL and other.o1 != NULL) is_same &= *o1 == *other.o1;
515 
516  if ((o2 != NULL) ^ (other.o2 != NULL)) return false;
517  is_same &= (o2 == other.o2);
518 // else if (o2 != NULL and other.o2 != NULL) is_same &= *o2 == *other.o2;
519 
520  return is_same;
521  }
522 
523 };
524 
526 {return static_cast<CollisionRequestFlag>(~static_cast<const int>(a));}
527 
529 {return static_cast<CollisionRequestFlag>(static_cast<const int>(a) | static_cast<const int>(b));}
530 
532 {return static_cast<CollisionRequestFlag>(static_cast<const int>(a) & static_cast<const int>(b));}
533 
535 {return static_cast<CollisionRequestFlag>(static_cast<const int>(a) ^ static_cast<const int>(b));}
536 
538 {return (CollisionRequestFlag&)((int&)(a) |= static_cast<const int>(b));}
539 
541 {return (CollisionRequestFlag&)((int&)(a) &= static_cast<const int>(b));}
542 
544 {return (CollisionRequestFlag&)((int&)(a) ^= static_cast<const int>(b));}
545 
546 }
547 
548 } // namespace hpp
549 
550 #endif
Contact(const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
Definition: collision_data.h:95
support_func_guess_t cached_support_func_guess
the support function intial guess set by user
Definition: collision_data.h:147
size_t num_max_contacts
The maximum number of contacts will return.
Definition: collision_data.h:211
CollisionRequestFlag operator|(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:528
request to the distance computation
Definition: collision_data.h:361
bool operator==(const QueryRequest &other) const
whether two QueryRequest are the same or not
Definition: collision_data.h:162
void update(const DistanceResult &other_result)
add distance information into the result
Definition: collision_data.h:471
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:178
const CollisionGeometry * o1
collision object 1
Definition: collision_data.h:410
base class for all query results
Definition: collision_data.h:172
FCL_REAL distance_upper_bound
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points w...
Definition: collision_data.h:231
Main namespace.
Definition: AABB.h:43
collision result
Definition: collision_data.h:269
int b2
information about the nearest point in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell
Definition: collision_data.h:425
Vec3f nearest_points[2]
nearest points
Definition: collision_data.h:404
bool enable_cached_gjk_guess
whether enable gjk intial guess
Definition: collision_data.h:141
void updateDistanceLowerBound(const FCL_REAL &distance_lower_bound_)
Update the lower bound only if the distance in inferior.
Definition: collision_data.h:289
CollisionRequestFlag & operator|=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:537
QueryRequest()
Definition: collision_data.h:152
size_t numContacts() const
number of contacts found
Definition: collision_data.h:315
void addContact(const Contact &c)
add one contact into result structure
Definition: collision_data.h:296
FCL_REAL distance_lower_bound
Definition: collision_data.h:280
Definition: collision_data.h:202
void clear()
clear the result
Definition: collision_data.h:487
const CollisionGeometry * o1
collision object 1
Definition: collision_data.h:60
CollisionRequestFlag & operator &=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:540
CollisionRequestFlag
flag declaration for specifying required params in CollisionResult
Definition: collision_data.h:200
CollisionRequestFlag operator^(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:534
request to the collision algorithm
Definition: collision_data.h:208
void clear()
clear the results obtained
Definition: collision_data.h:345
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
FCL_REAL penetration_depth
penetration depth
Definition: collision_data.h:84
double FCL_REAL
Definition: data_types.h:66
void updateGuess(const QueryResult &result)
Definition: collision_data.h:189
CollisionRequestFlag & operator^=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:543
Definition: timings.h:16
FCL_REAL min_distance
minimum distance between two objects. if two objects are in collision, min_distance <= 0...
Definition: collision_data.h:401
int b1
information about the nearest point in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell
Definition: collision_data.h:419
Vec3f normal
In case both objects are in collision, store the normal.
Definition: collision_data.h:407
void getContacts(std::vector< Contact > &contacts_) const
get all the contacts
Definition: collision_data.h:333
Vec3f cached_gjk_guess
the gjk intial guess set by user
Definition: collision_data.h:144
Contact(const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3f &pos_, const Vec3f &normal_, FCL_REAL depth_)
Definition: collision_data.h:101
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:71
Vec3f pos
contact position, in world space
Definition: collision_data.h:81
CPUTimes timings
timings for the given request
Definition: collision_data.h:181
bool enable_timings
enable timings when performing collision/distance request
Definition: collision_data.h:150
DistanceResult(FCL_REAL min_distance_=(std::numeric_limits< FCL_REAL >::max)())
Definition: collision_data.h:430
FCL_REAL break_distance
Distance below which bounding volumes are broken down. See Collision detection and distance lower bou...
Definition: collision_data.h:225
FCL_REAL rel_err
error threshold for approximate distance
Definition: collision_data.h:367
CollisionRequest()
Definition: collision_data.h:243
bool enable_nearest_points
whether to return the nearest points
Definition: collision_data.h:364
bool enable_distance_lower_bound
Whether a lower bound on distance is returned when objects are disjoint.
Definition: collision_data.h:217
QueryResult()
Definition: collision_data.h:183
int b1
contact primitive in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if o...
Definition: collision_data.h:69
CollisionResult()
Definition: collision_data.h:283
const Contact & getContact(size_t i) const
get the i-th contact calculated
Definition: collision_data.h:321
CollisionRequestFlag operator &(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:531
Definition: collision_data.h:203
bool enable_contact
whether the contact information (normal, penetration depth and contact position) will return ...
Definition: collision_data.h:214
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:175
bool isCollision() const
return binary collision result
Definition: collision_data.h:309
base class for all query requests
Definition: collision_data.h:138
CollisionRequestFlag operator~(CollisionRequestFlag a)
Definition: collision_data.h:525
Definition: collision_data.h:204
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
const CollisionGeometry * o2
collision object 2
Definition: collision_data.h:63
void update(FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
add distance information into the result
Definition: collision_data.h:440
Contact information returned by collision.
Definition: collision_data.h:57
void update(FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3f &p1, const Vec3f &p2, const Vec3f &normal_)
add distance information into the result
Definition: collision_data.h:453
int b2
contact primitive in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if o...
Definition: collision_data.h:75
The geometry for the object for collision or distance computation.
Definition: collision_object.h:65
FCL_REAL abs_err
Definition: collision_data.h:368
const std::vector< Contact > & getContacts() const
Definition: collision_data.h:339
Vec3f normal
contact normal, pointing from o1 to o2
Definition: collision_data.h:78
const CollisionGeometry * o2
collision object 2
Definition: collision_data.h:413
DistanceRequest(bool enable_nearest_points_=false, FCL_REAL rel_err_=0.0, FCL_REAL abs_err_=0.0)
Definition: collision_data.h:373
#define HPP_FCL_DLLAPI
Definition: config.hh:64
CollisionRequest(const CollisionRequestFlag flag, size_t num_max_contacts_)
Definition: collision_data.h:233
distance result
Definition: collision_data.h:395
FCL_REAL security_margin
Distance below which objects are considered in collision. See Collision detection and distance lower ...
Definition: collision_data.h:221
Contact()
Definition: collision_data.h:89