hpp-core: include/hpp/core/collision-pair.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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collision-pair.hh
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1//
2// Copyright (c) 2021 CNRS
3// Authors: Joseph Mirabel
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.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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28// DAMAGE.
29
30#ifndef HPP_CORE_COLLISION_PAIR_HH
31#define HPP_CORE_COLLISION_PAIR_HH
32
33#include <coal/collision.h>
34
35#include <hpp/core/fwd.hh>
36#include <hpp/pinocchio/collision-object.hh>
37#include <hpp/pinocchio/device-data.hh>
38#include <pinocchio/collision/fcl-pinocchio-conversions.hpp>
39
40namespace hpp {
41namespace core {
42
43 typedef std::vector<coal::CollisionRequest> CollisionRequests_t;
44
45 struct CollisionPair {
46 CollisionObjectConstPtr_t first;
47 CollisionObjectConstPtr_t second;
48 coal::ComputeCollision computeCollision;
49
50 inline CollisionPair(CollisionObjectConstPtr_t f, CollisionObjectConstPtr_t s)
51 : first(f),
52 second(s),
53 computeCollision(f->geometry().get(), s->geometry().get()) {}
54
55 inline auto collide(coal::CollisionRequest& request,
56 coal::CollisionResult& result) const
57 // decltype(computeCollision(tf1,tf2,request,result))
58 {
59 assert(!first->getTransform().translation().hasNaN());
60 assert(!first->getTransform().rotation().hasNaN());
61 assert(!second->getTransform().translation().hasNaN());
62 assert(!second->getTransform().rotation().hasNaN());
63 return computeCollision(first->getFclTransform(), second->getFclTransform(),
64 request, result);
65 }
66
67 inline auto collide(const pinocchio::DeviceData& d,
68 coal::CollisionRequest& request,
69 coal::CollisionResult& result) const
70 // decltype(computeCollision(tf1,tf2,request,result))
71 {
72 using ::pinocchio::toFclTransform3f;
73 assert(!first->getTransform(d).translation().hasNaN());
74 assert(!first->getTransform(d).rotation().hasNaN());
75 assert(!second->getTransform(d).translation().hasNaN());
76 assert(!second->getTransform(d).rotation().hasNaN());
77 return computeCollision(toFclTransform3f(first->getTransform(d)),
78 toFclTransform3f(second->getTransform(d)), request,
79 result);
80 }
81};
82
83} // namespace core
84} // namespace hpp
85#endif // HPP_CORE_COLLISION_PAIR_HH
collision-object.hh
device-data.hh
fwd.hh
hpp
hpp::core::CollisionRequests_t
std::vector< coal::CollisionRequest > CollisionRequests_t
Definition collision-pair.hh:43
hpp::core::CollisionObjectConstPtr_t
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition fwd.hh:100
hpp::core::CollisionPair
Definition collision-pair.hh:45
hpp::core::CollisionPair::CollisionPair
CollisionPair(CollisionObjectConstPtr_t f, CollisionObjectConstPtr_t s)
Definition collision-pair.hh:50
hpp::core::CollisionPair::second
CollisionObjectConstPtr_t second
Definition collision-pair.hh:47
hpp::core::CollisionPair::first
CollisionObjectConstPtr_t first
Definition collision-pair.hh:46
hpp::core::CollisionPair::collide
auto collide(const pinocchio::DeviceData &d, coal::CollisionRequest &request, coal::CollisionResult &result) const
Definition collision-pair.hh:67
hpp::core::CollisionPair::collide
auto collide(coal::CollisionRequest &request, coal::CollisionResult &result) const
Definition collision-pair.hh:55
hpp::core::CollisionPair::computeCollision
coal::ComputeCollision computeCollision
Definition collision-pair.hh:48
hpp::pinocchio::DeviceData