hpp-core 4.14.0
Implement basic classes for canonical path planning for kinematic chains.
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solid-solid-collision.hh
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1//
2// Copyright (c) 2014,2015,2016,2018 CNRS
3// Authors: Florent Lamiraux, Joseph Mirabel, Diane Bury
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
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13// 2. Redistributions in binary form must reproduce the above copyright
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17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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29
30#ifndef HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH
31#define HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH
32
34
35namespace hpp {
36namespace core {
37namespace continuousValidation {
43}; // struct CoefficientVelocity
44typedef std::vector<CoefficientVelocity> CoefficientVelocities_t;
45
56 public:
64 const JointPtr_t& joint_a, const ConstObjectStdVector_t& objects_b,
65 value_type tolerance);
66
72 const JointPtr_t& joint_b,
73 value_type tolerance);
74
77 const SolidSolidCollisionPtr_t& other);
78
80
82
83 std::string name() const;
84
85 std::ostream& print(std::ostream& os) const;
86
91 const CollisionObjectConstPtr_t& right);
92
93 // Get coefficients and joints
95 return m_->coefficients;
96 }
97
99 const JointPtr_t& joint_a() const { return m_->joint_a; }
101 const JointPtr_t& joint_b() const { return m_->joint_b; }
102
105 return (m_->joint_a ? m_->joint_a->index() : 0);
106 }
109 return (m_->joint_b ? m_->joint_b->index() : 0);
110 }
111
113
114 protected:
120 SolidSolidCollision(const JointPtr_t& joint_a, const JointPtr_t& joint_b,
121 value_type tolerance);
122
130 const ConstObjectStdVector_t& objects_b,
131 value_type tolerance);
132
135 : BodyPairCollision(other), m_(other.m_) {}
136
137 void init(const SolidSolidCollisionWkPtr_t& weak);
138
139 private:
140 typedef pinocchio::JointIndex JointIndex;
141 typedef std::vector<JointIndex> JointIndices_t;
142
143 struct Model {
144 JointPtr_t joint_a;
145 JointPtr_t joint_b;
146 CoefficientVelocities_t coefficients;
147 CoefficientVelocities_t coefficients_reverse;
148 JointIndices_t computeSequenceOfJoints() const;
149 CoefficientVelocities_t computeCoefficients(
150 const JointIndices_t& joints) const;
151 void setCoefficients(const JointIndices_t& joints);
152 };
153 shared_ptr<Model> m_;
154 SolidSolidCollisionWkPtr_t weak_;
155}; // class SolidSolidCollision
156} // namespace continuousValidation
157} // namespace core
158} // namespace hpp
159#endif // HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH
Definition: body-pair-collision.hh:62
Definition: solid-solid-collision.hh:55
SolidSolidCollision(const JointPtr_t &joint_a, const JointPtr_t &joint_b, value_type tolerance)
size_type indexJointA() const
Returns joint A index or -1 if no such joint exists.
Definition: solid-solid-collision.hh:104
const JointPtr_t & joint_b() const
Get joint b.
Definition: solid-solid-collision.hh:101
SolidSolidCollision(const JointPtr_t &joint_a, const ConstObjectStdVector_t &objects_b, value_type tolerance)
bool removeObjectTo_b(const CollisionObjectConstPtr_t &object)
static SolidSolidCollisionPtr_t createCopy(const SolidSolidCollisionPtr_t &other)
Copy instance and return shared pointer.
std::ostream & print(std::ostream &os) const
const JointPtr_t & joint_a() const
Get joint a.
Definition: solid-solid-collision.hh:99
static SolidSolidCollisionPtr_t create(const JointPtr_t &joint_a, const JointPtr_t &joint_b, value_type tolerance)
void init(const SolidSolidCollisionWkPtr_t &weak)
static SolidSolidCollisionPtr_t create(const JointPtr_t &joint_a, const ConstObjectStdVector_t &objects_b, value_type tolerance)
value_type computeMaximalVelocity(vector_t &Vb) const
size_type indexJointB() const
Returns joint B index or -1 if no such joint exists.
Definition: solid-solid-collision.hh:108
void addCollisionPair(const CollisionObjectConstPtr_t &left, const CollisionObjectConstPtr_t &right)
const CoefficientVelocities_t & coefficients() const
Definition: solid-solid-collision.hh:94
SolidSolidCollision(const SolidSolidCollision &other)
Copy constructor.
Definition: solid-solid-collision.hh:134
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:260
std::vector< CoefficientVelocity > CoefficientVelocities_t
Definition: solid-solid-collision.hh:44
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:263
pinocchio::value_type value_type
Definition: fwd.hh:173
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:184
pinocchio::vector_t vector_t
Definition: fwd.hh:219
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:150
pinocchio::size_type size_type
Definition: fwd.hh:172
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
Definition: bi-rrt-planner.hh:35
Definition: solid-solid-collision.hh:38
JointPtr_t joint_
Joint the degrees of freedom of which the bounds correspond to.
Definition: solid-solid-collision.hh:41
CoefficientVelocity()
Definition: solid-solid-collision.hh:39
value_type value_
Definition: solid-solid-collision.hh:42