convex-shape-contact.hh

Go to the documentation of this file.

// Copyright (c) 2020, Airbus SAS and CNRS
// Authors: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH
#define HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH
 
#include <hpp/constraints/explicit.hh>
#include <tuple>
 
namespace hpp {
namespace constraints {
namespace explicit_ {
class HPP_CONSTRAINTS_DLLAPI ConvexShapeContact : public Explicit {
 public:
  typedef std::tuple<ImplicitPtr_t, ImplicitPtr_t, ExplicitPtr_t> Constraints_t;
  virtual ImplicitPtr_t copy() const;
  static ConvexShapeContactPtr_t create(const std::string& name,
                                        DevicePtr_t robot,
                                        const JointAndShapes_t& floorSurfaces,
                                        const JointAndShapes_t& objectSurfaces,
                                        const value_type& margin);
  static Constraints_t createConstraintAndComplement(
      const std::string& name, DevicePtr_t robot,
      const JointAndShapes_t& floorSurfaces,
      const JointAndShapes_t& objectSurfaces, const value_type& margin);

  static ConvexShapeContactPtr_t createCopy(
      const ConvexShapeContactPtr_t& other);
  virtual void outputValue(LiegroupElementRef result, vectorIn_t qin,
                           LiegroupElementConstRef rhs) const;

  virtual void jacobianOutputValue(vectorIn_t qin,
                                   LiegroupElementConstRef f_value,
                                   LiegroupElementConstRef rhs,
                                   matrixOut_t jacobian) const;
 
 protected:
  ConvexShapeContact(const std::string& name, DevicePtr_t robot,
                     const JointAndShapes_t& floorSurfaces,
                     const JointAndShapes_t& objectSurfaces,
                     const value_type& margin);
  void init(ConvexShapeContactWkPtr_t weak);
 
 private:
  // Store a vector of explicit relative transforms corresponding to
  // each pair (floor surface, object surface)
  std::vector<RelativePosePtr_t> pose_;
  // Number of object surfaces
  std::size_t nObjSurf_;
  // shared pointer to itself
  ConvexShapeContactWkPtr_t weak_;
};  // class ConvexShapeContact
}  // namespace explicit_
}  // namespace constraints
}  // namespace hpp
#endif  // HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH