hpp-fcl  1.7.0
HPP fork of FCL -- The Flexible Collision Library
collision_data.h
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1 //
2 // Copyright (c) 2021 INRIA
3 //
4 
5 #ifndef HPP_FCL_SERIALIZATION_COLLISION_DATA_H
6 #define HPP_FCL_SERIALIZATION_COLLISION_DATA_H
7 
10 
11 namespace boost
12 {
13  namespace serialization
14  {
15 
16  template <class Archive>
17  void save(Archive & ar,
18  const hpp::fcl::Contact & contact,
19  const unsigned int /*version*/)
20  {
21  ar & make_nvp("b1",contact.b1);
22  ar & make_nvp("b2",contact.b2);
23  ar & make_nvp("normal",contact.normal);
24  ar & make_nvp("pos",contact.pos);
25  ar & make_nvp("penetration_depth",contact.penetration_depth);
26  }
27 
28  template <class Archive>
29  void load(Archive & ar,
30  hpp::fcl::Contact & contact,
31  const unsigned int /*version*/)
32  {
33  ar >> make_nvp("b1",contact.b1);
34  ar >> make_nvp("b2",contact.b2);
35  ar >> make_nvp("normal",contact.normal);
36  ar >> make_nvp("pos",contact.pos);
37  ar >> make_nvp("penetration_depth",contact.penetration_depth);
38  contact.o1 = NULL;
39  contact.o2 = NULL;
40  }
41 
43 
44  template <class Archive>
45  void serialize(Archive & ar,
46  hpp::fcl::QueryRequest & query_request,
47  const unsigned int /*version*/)
48  {
49  ar & make_nvp("enable_cached_gjk_guess",query_request.enable_cached_gjk_guess);
50  ar & make_nvp("cached_gjk_guess",query_request.cached_gjk_guess);
51  ar & make_nvp("cached_support_func_guess",query_request.cached_support_func_guess);
52  }
53 
54  template <class Archive>
55  void serialize(Archive & ar,
56  hpp::fcl::QueryResult & query_result,
57  const unsigned int /*version*/)
58  {
59  ar & make_nvp("cached_gjk_guess",query_result.cached_gjk_guess);
60  ar & make_nvp("cached_support_func_guess",query_result.cached_support_func_guess);
61  }
62 
63  template <class Archive>
64  void serialize(Archive & ar,
65  hpp::fcl::CollisionRequest & collision_request,
66  const unsigned int /*version*/)
67  {
68  ar & make_nvp("base",boost::serialization::base_object<hpp::fcl::QueryRequest>(collision_request));
69  ar & make_nvp("num_max_contacts",collision_request.num_max_contacts);
70  ar & make_nvp("enable_contact",collision_request.enable_contact);
71  ar & make_nvp("enable_distance_lower_bound",collision_request.enable_distance_lower_bound);
72  ar & make_nvp("security_margin",collision_request.security_margin);
73  ar & make_nvp("break_distance",collision_request.break_distance);
74  }
75 
76  template <class Archive>
77  void save(Archive & ar,
78  const hpp::fcl::CollisionResult & collision_result,
79  const unsigned int /*version*/)
80  {
81  ar & make_nvp("base",boost::serialization::base_object<hpp::fcl::QueryResult>(collision_result));
82  ar & make_nvp("contacts",collision_result.getContacts());
83  ar & make_nvp("distance_lower_bound",collision_result.distance_lower_bound);
84  }
85 
86  template <class Archive>
87  void load(Archive & ar,
88  hpp::fcl::CollisionResult & collision_result,
89  const unsigned int /*version*/)
90  {
91  ar >> make_nvp("base",boost::serialization::base_object<hpp::fcl::QueryResult>(collision_result));
92  std::vector<hpp::fcl::Contact> contacts;
93  ar >> make_nvp("contacts",contacts);
94  collision_result.clear();
95  for(size_t k = 0; k < contacts.size(); ++k)
96  collision_result.addContact(contacts[k]);
97  ar >> make_nvp("distance_lower_bound",collision_result.distance_lower_bound);
98  }
99 
101 
102  template <class Archive>
103  void serialize(Archive & ar,
104  hpp::fcl::DistanceRequest & distance_request,
105  const unsigned int /*version*/)
106  {
107  ar & make_nvp("base",boost::serialization::base_object<hpp::fcl::QueryRequest>(distance_request));
108  ar & make_nvp("enable_nearest_points",distance_request.enable_nearest_points);
109  ar & make_nvp("rel_err",distance_request.rel_err);
110  ar & make_nvp("abs_err",distance_request.abs_err);
111  }
112 
113  template <class Archive>
114  void save(Archive & ar,
115  const hpp::fcl::DistanceResult & distance_result,
116  const unsigned int /*version*/)
117  {
118  ar & make_nvp("base",boost::serialization::base_object<hpp::fcl::QueryResult>(distance_result));
119  ar & make_nvp("min_distance",distance_result.min_distance);
120  ar & make_nvp("nearest_points",make_array(distance_result.nearest_points,2));
121  ar & make_nvp("normal",distance_result.normal);
122  ar & make_nvp("b1",distance_result.b1);
123  ar & make_nvp("b2",distance_result.b2);
124  }
125 
126  template <class Archive>
127  void load(Archive & ar,
128  hpp::fcl::DistanceResult & distance_result,
129  const unsigned int /*version*/)
130  {
131  ar >> make_nvp("base",boost::serialization::base_object<hpp::fcl::QueryResult>(distance_result));
132  ar >> make_nvp("min_distance",distance_result.min_distance);
133  ar >> make_nvp("nearest_points",make_array(distance_result.nearest_points,2));
134  ar >> make_nvp("normal",distance_result.normal);
135  ar >> make_nvp("b1",distance_result.b1);
136  ar >> make_nvp("b2",distance_result.b2);
137  distance_result.o1 = NULL;
138  distance_result.o2 = NULL;
139  }
140 
142 
143  }
144 }
145 
146 #endif // ifndef HPP_FCL_SERIALIZATION_COLLISION_DATA_H
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:206
request to the distance computation
Definition: collision_data.h:356
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:173
Definition: AABB.h:11
const CollisionGeometry * o1
collision object 1
Definition: collision_data.h:405
base class for all query results
Definition: collision_data.h:167
#define HPP_FCL_SERIALIZATION_SPLIT(Type)
Definition: fwd.h:13
collision result
Definition: collision_data.h:264
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:420
Vec3f nearest_points[2]
nearest points
Definition: collision_data.h:399
bool enable_cached_gjk_guess
whether enable gjk intial guess
Definition: collision_data.h:141
void addContact(const Contact &c)
add one contact into result structure
Definition: collision_data.h:291
FCL_REAL distance_lower_bound
Definition: collision_data.h:275
void serialize(Archive &ar, hpp::fcl::AABB &aabb, const unsigned int)
Definition: AABB.h:17
const CollisionGeometry * o1
collision object 1
Definition: collision_data.h:60
request to the collision algorithm
Definition: collision_data.h:203
void clear()
clear the results obtained
Definition: collision_data.h:340
FCL_REAL penetration_depth
penetration depth
Definition: collision_data.h:84
FCL_REAL min_distance
minimum distance between two objects. if two objects are in collision, min_distance <= 0...
Definition: collision_data.h:396
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:414
Vec3f normal
In case both objects are in collision, store the normal.
Definition: collision_data.h:402
void save(Archive &ar, const hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:34
void getContacts(std::vector< Contact > &contacts_) const
get all the contacts
Definition: collision_data.h:328
Vec3f cached_gjk_guess
the gjk intial guess set by user
Definition: collision_data.h:144
Vec3f pos
contact position, in world space
Definition: collision_data.h:81
FCL_REAL break_distance
Distance below which bounding volumes are broken down. See Collision detection and distance lower bou...
Definition: collision_data.h:220
FCL_REAL rel_err
error threshold for approximate distance
Definition: collision_data.h:362
bool enable_nearest_points
whether to return the nearest points
Definition: collision_data.h:359
bool enable_distance_lower_bound
Whether a lower bound on distance is returned when objects are disjoint.
Definition: collision_data.h:212
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
bool enable_contact
whether the contact information (normal, penetration depth and contact position) will return ...
Definition: collision_data.h:209
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:170
base class for all query requests
Definition: collision_data.h:138
const CollisionGeometry * o2
collision object 2
Definition: collision_data.h:63
Contact information returned by collision.
Definition: collision_data.h:57
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
void load(Archive &ar, hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:50
FCL_REAL abs_err
Definition: collision_data.h:363
Vec3f normal
contact normal, pointing from o1 to o2
Definition: collision_data.h:78
const CollisionGeometry * o2
collision object 2
Definition: collision_data.h:408
distance result
Definition: collision_data.h:390
FCL_REAL security_margin
Distance below which objects are considered in collision. See Collision detection and distance lower ...
Definition: collision_data.h:216