collision_robot.cpp

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/* Author: Ioan Sucan */

#include <moveit/collision_detection/collision_robot.h>
#include <limits>

static inline bool validateScale(double scale)
{
  if (scale < std::numeric_limits<double>::epsilon())
  {
    logError("Scale must be positive");
    return false;
  }
  if (scale > std::numeric_limits<double>::max())
  {
    logError("Scale must be finite");
    return false;
  }
  return true;
}

static inline bool validatePadding(double padding)
{
  if (padding < 0.0)
  {
    logError("Padding cannot be negative");
    return false;
  }
  if (padding > std::numeric_limits<double>::max())
  {
    logError("Padding must be finite");
    return false;
  }
  return true;
}

collision_detection::CollisionRobot::CollisionRobot(const robot_model::RobotModelConstPtr &kmodel, double padding, double scale) : kmodel_(kmodel)
{
  if (!validateScale(scale))
    scale = 1.0;
  if (!validatePadding(padding))
    padding = 0.0;

  const std::vector<const robot_model::LinkModel*>& links = kmodel_->getLinkModels();
  for (std::size_t i = 0 ; i < links.size() ; ++i)
    if (links[i] && links[i]->getShape())
    {
      link_padding_[links[i]->getName()] = padding;
      link_scale_[links[i]->getName()] = scale;
    }
}

collision_detection::CollisionRobot::CollisionRobot(const CollisionRobot &other) : kmodel_(other.kmodel_)
{
  link_padding_ = other.link_padding_;
  link_scale_ = other.link_scale_;
}

void collision_detection::CollisionRobot::setPadding(double padding)
{
  if (!validatePadding(padding))
    return;
  std::vector<std::string> u;
  const std::vector<const robot_model::LinkModel*>& links = kmodel_->getLinkModels();
  for (std::size_t i = 0 ; i < links.size() ; ++i)
    if (links[i] && links[i]->getShape())
    {
      if (getLinkPadding(links[i]->getName()) != padding)
        u.push_back(links[i]->getName());
      link_padding_[links[i]->getName()] = padding;
    }
  if (!u.empty())
    updatedPaddingOrScaling(u);
}

void collision_detection::CollisionRobot::setScale(double scale)
{
  if (!validateScale(scale))
    return;
  std::vector<std::string> u;
  const std::vector<const robot_model::LinkModel*>& links = kmodel_->getLinkModels();
  for (std::size_t i = 0 ; i < links.size() ; ++i)
    if (links[i] && links[i]->getShape())
    {
      if (getLinkScale(links[i]->getName()) != scale)
        u.push_back(links[i]->getName());
      link_scale_[links[i]->getName()] = scale;
    }
  if (!u.empty())
    updatedPaddingOrScaling(u);
}

void collision_detection::CollisionRobot::setLinkPadding(const std::string &link_name, double padding)
{
  bool update = getLinkPadding(link_name) != padding;
  link_padding_[link_name] = padding;
  if (update)
  {
    std::vector<std::string> u(1, link_name);
    updatedPaddingOrScaling(u);
  }
}

double collision_detection::CollisionRobot::getLinkPadding(const std::string &link_name) const
{
  std::map<std::string, double>::const_iterator it = link_padding_.find(link_name);
  if (it != link_padding_.end())
    return it->second;
  else
    return 0.0;
}

void collision_detection::CollisionRobot::setLinkPadding(const std::map<std::string, double> &padding)
{
  std::vector<std::string> u;
  for (std::map<std::string, double>::const_iterator it = padding.begin() ; it != padding.end() ; ++it)
  {
    bool update = getLinkPadding(it->first) != it->second;
    link_padding_[it->first] = it->second;
    if (update)
      u.push_back(it->first);
  }
  if (!u.empty())
    updatedPaddingOrScaling(u);
}

const std::map<std::string, double> &collision_detection::CollisionRobot::getLinkPadding() const
{
  return link_padding_;
}

void collision_detection::CollisionRobot::setLinkScale(const std::string &link_name, double scale)
{
  bool update = getLinkScale(link_name) != scale;
  link_scale_[link_name] = scale;
  if (update)
  {
    std::vector<std::string> u(1, link_name);
    updatedPaddingOrScaling(u);
  }
}

double collision_detection::CollisionRobot::getLinkScale(const std::string &link_name) const
{
  std::map<std::string, double>::const_iterator it = link_scale_.find(link_name);
  if (it != link_scale_.end())
    return it->second;
  else
    return 1.0;
}

void collision_detection::CollisionRobot::setLinkScale(const std::map<std::string, double> &scale)
{
  std::vector<std::string> u;
  for (std::map<std::string, double>::const_iterator it = scale.begin() ; it != scale.end() ; ++it)
  {
    bool update = getLinkScale(it->first) != it->second;
    link_scale_[it->first] = it->second;
    if (update)
      u.push_back(it->first);
  }
  if (!u.empty())
    updatedPaddingOrScaling(u);
}

const std::map<std::string, double> &collision_detection::CollisionRobot::getLinkScale() const
{
  return link_scale_;
}

void collision_detection::CollisionRobot::setPadding(const std::vector<moveit_msgs::LinkPadding> &padding)
{
  std::vector<std::string> u;
  for (std::size_t i = 0 ; i < padding.size() ; ++i)
  {
    bool update = getLinkPadding(padding[i].link_name) != padding[i].padding;
    link_padding_[padding[i].link_name] = padding[i].padding;
    if (update)
      u.push_back(padding[i].link_name);
  }
  if (!u.empty())
    updatedPaddingOrScaling(u);
}

void collision_detection::CollisionRobot::setScale(const std::vector<moveit_msgs::LinkScale> &scale)
{
  std::vector<std::string> u;
  for (std::size_t i = 0 ; i < scale.size() ; ++i)
  {
    bool update = getLinkScale(scale[i].link_name) != scale[i].scale;
    link_scale_[scale[i].link_name] = scale[i].scale;
    if (update)
      u.push_back(scale[i].link_name);
  }
  if (!u.empty())
    updatedPaddingOrScaling(u);
}

void collision_detection::CollisionRobot::getPadding(std::vector<moveit_msgs::LinkPadding> &padding) const
{
  padding.clear();
  for (std::map<std::string, double>::const_iterator it = link_padding_.begin() ; it != link_padding_.end() ; ++it)
  {
    moveit_msgs::LinkPadding lp;
    lp.link_name = it->first;
    lp.padding = it->second;
    padding.push_back(lp);
  }
}

void collision_detection::CollisionRobot::getScale(std::vector<moveit_msgs::LinkScale> &scale) const
{
  scale.clear();
  for (std::map<std::string, double>::const_iterator it = link_scale_.begin() ; it != link_scale_.end() ; ++it)
  {
    moveit_msgs::LinkScale ls;
    ls.link_name = it->first;
    ls.scale = it->second;
    scale.push_back(ls);
  }
}

void collision_detection::CollisionRobot::updatedPaddingOrScaling(const std::vector<std::string> &links)
{
}