collision_robot_fcl.cpp

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/* Author: Ioan Sucan */

#include <moveit/collision_detection_fcl/collision_robot_fcl.h>

collision_detection::CollisionRobotFCL::CollisionRobotFCL(const robot_model::RobotModelConstPtr &model, double padding, double scale) 
  : CollisionRobot(model, padding, scale)
{
  const std::vector<const robot_model::LinkModel*>& links = robot_model_->getLinkModelsWithCollisionGeometry();
  geoms_.resize(robot_model_->getLinkGeometryCount());
  // we keep the same order of objects as what RobotState *::getLinkState() returns
  for (std::size_t i = 0 ; i < links.size() ; ++i)
    for (std::size_t j = 0 ; j < links[i]->getShapes().size() ; ++j)
    {
      FCLGeometryConstPtr g = createCollisionGeometry(links[i]->getShapes()[j], getLinkScale(links[i]->getName()), getLinkPadding(links[i]->getName()), links[i], j);
      if (g)
        geoms_[links[i]->getFirstCollisionBodyTransformIndex() + j] = g;
      else
        logError("Unable to construct collision geometry for link '%s'", links[i]->getName().c_str());
    }
}

collision_detection::CollisionRobotFCL::CollisionRobotFCL(const CollisionRobotFCL &other) : CollisionRobot(other)
{
  geoms_ = other.geoms_;
}

void collision_detection::CollisionRobotFCL::getAttachedBodyObjects(const robot_state::AttachedBody *ab, std::vector<FCLGeometryConstPtr> &geoms) const
{
  const std::vector<shapes::ShapeConstPtr> &shapes = ab->getShapes();
  for (std::size_t i = 0 ; i < shapes.size() ; ++i)
  {
    FCLGeometryConstPtr co = createCollisionGeometry(shapes[i], ab, i);
    if (co)
      geoms.push_back(co);
  }
}

void collision_detection::CollisionRobotFCL::constructFCLObject(const robot_state::RobotState &state, FCLObject &fcl_obj) const
{
  fcl_obj.collision_objects_.reserve(geoms_.size());
  
  for (std::size_t i = 0 ; i < geoms_.size() ; ++i)
    if (geoms_[i] && geoms_[i]->collision_geometry_)
    {
      fcl::CollisionObject *collObj = new fcl::CollisionObject
        (geoms_[i]->collision_geometry_, transform2fcl(state.getCollisionBodyTransform(geoms_[i]->collision_geometry_data_->ptr.link, geoms_[i]->collision_geometry_data_->shape_index)));
      fcl_obj.collision_objects_.push_back(boost::shared_ptr<fcl::CollisionObject>(collObj));
      // the CollisionGeometryData is already stored in the class member geoms_, so we need not copy it
    }
  
  std::vector<const robot_state::AttachedBody*> ab;
  state.getAttachedBodies(ab);
  for (std::size_t j = 0 ; j < ab.size() ; ++j)
  {
    std::vector<FCLGeometryConstPtr> objs;
    getAttachedBodyObjects(ab[j], objs);
    const EigenSTL::vector_Affine3d &ab_t = ab[j]->getGlobalCollisionBodyTransforms();
    for (std::size_t k = 0 ; k < objs.size() ; ++k)
      if (objs[k]->collision_geometry_)
      {
        fcl::CollisionObject *collObj = new fcl::CollisionObject(objs[k]->collision_geometry_, transform2fcl(ab_t[k]));
        fcl_obj.collision_objects_.push_back(boost::shared_ptr<fcl::CollisionObject>(collObj));
        // we copy the shared ptr to the CollisionGeometryData, as this is not stored by the class itself,
        // and would be destroyed when objs goes out of scope.
        fcl_obj.collision_geometry_.push_back(objs[k]);
      }
  }
}

void collision_detection::CollisionRobotFCL::allocSelfCollisionBroadPhase(const robot_state::RobotState &state, FCLManager &manager) const
{
  fcl::DynamicAABBTreeCollisionManager* m = new fcl::DynamicAABBTreeCollisionManager();
  // m->tree_init_level = 2;
  manager.manager_.reset(m);
  constructFCLObject(state, manager.object_);
  manager.object_.registerTo(manager.manager_.get());
  // manager.manager_->update();
}

void collision_detection::CollisionRobotFCL::checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const
{
  checkSelfCollisionHelper(req, res, state, NULL);
}

void collision_detection::CollisionRobotFCL::checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
                                                                const AllowedCollisionMatrix &acm) const
{
  checkSelfCollisionHelper(req, res, state, &acm);
}

void collision_detection::CollisionRobotFCL::checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
{
  logError("FCL continuous collision checking not yet implemented");
}

void collision_detection::CollisionRobotFCL::checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
{
  logError("FCL continuous collision checking not yet implemented");
}

void collision_detection::CollisionRobotFCL::checkSelfCollisionHelper(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
                                                                      const AllowedCollisionMatrix *acm) const
{
  FCLManager manager;
  allocSelfCollisionBroadPhase(state, manager);
  CollisionData cd(&req, &res, acm);
  cd.enableGroup(getRobotModel());
  manager.manager_->collide(&cd, &collisionCallback);
  if (req.distance)
    res.distance = distanceSelfHelper(state, acm);
}

void collision_detection::CollisionRobotFCL::checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
                                                                 const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
{
  checkOtherCollisionHelper(req, res, state, other_robot, other_state, NULL);
}

void collision_detection::CollisionRobotFCL::checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
                                                                 const CollisionRobot &other_robot, const robot_state::RobotState &other_state,
                                                                 const AllowedCollisionMatrix &acm) const
{
  checkOtherCollisionHelper(req, res, state, other_robot, other_state, &acm);
}

void collision_detection::CollisionRobotFCL::checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2,
                                                                 const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2) const
{
  logError("FCL continuous collision checking not yet implemented");
}

void collision_detection::CollisionRobotFCL::checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2,
                                                                 const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2,
                                                                 const AllowedCollisionMatrix &acm) const
{
  logError("FCL continuous collision checking not yet implemented");
}

void collision_detection::CollisionRobotFCL::checkOtherCollisionHelper(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
                                                                       const CollisionRobot &other_robot, const robot_state::RobotState &other_state,
                                                                       const AllowedCollisionMatrix *acm) const
{
  FCLManager manager;
  allocSelfCollisionBroadPhase(state, manager);

  const CollisionRobotFCL &fcl_rob = dynamic_cast<const CollisionRobotFCL&>(other_robot);
  FCLObject other_fcl_obj;
  fcl_rob.constructFCLObject(other_state, other_fcl_obj);

  CollisionData cd(&req, &res, acm);
  cd.enableGroup(getRobotModel());
  for (std::size_t i = 0 ; !cd.done_ && i < other_fcl_obj.collision_objects_.size() ; ++i)
    manager.manager_->collide(other_fcl_obj.collision_objects_[i].get(), &cd, &collisionCallback);
  if (req.distance)
    res.distance = distanceOtherHelper(state, other_robot, other_state, acm);
}

void collision_detection::CollisionRobotFCL::updatedPaddingOrScaling(const std::vector<std::string> &links)
{
  for (std::size_t i = 0 ; i < links.size() ; ++i)
  {
    const robot_model::LinkModel *lmodel = robot_model_->getLinkModel(links[i]);
    if (lmodel)
    {
      for (std::size_t j = 0 ; j < lmodel->getShapes().size() ; ++j)
      {
        FCLGeometryConstPtr g = createCollisionGeometry(lmodel->getShapes()[j], getLinkScale(lmodel->getName()), getLinkPadding(lmodel->getName()), lmodel, j);
        if (g)
          geoms_[lmodel->getFirstCollisionBodyTransformIndex() + j] = g;
      }
    }
    else
      logError("Updating padding or scaling for unknown link: '%s'", links[i].c_str());
  }
}

double collision_detection::CollisionRobotFCL::distanceSelf(const robot_state::RobotState &state) const
{
  return distanceSelfHelper(state, NULL);
}

double collision_detection::CollisionRobotFCL::distanceSelf(const robot_state::RobotState &state,
                                                            const AllowedCollisionMatrix &acm) const
{
  return distanceSelfHelper(state, &acm);
}

double collision_detection::CollisionRobotFCL::distanceSelfHelper(const robot_state::RobotState &state,
                                                                  const AllowedCollisionMatrix *acm) const
{
  FCLManager manager;
  allocSelfCollisionBroadPhase(state, manager);

  CollisionRequest req;
  CollisionResult res;
  CollisionData cd(&req, &res, acm);
  cd.enableGroup(getRobotModel());

  manager.manager_->distance(&cd, &distanceCallback);

  return res.distance;
}

double collision_detection::CollisionRobotFCL::distanceOther(const robot_state::RobotState &state,
                                                             const CollisionRobot &other_robot,
                                                             const robot_state::RobotState &other_state) const
{
  return distanceOtherHelper(state, other_robot, other_state, NULL);
}

double collision_detection::CollisionRobotFCL::distanceOther(const robot_state::RobotState &state,
                                                             const CollisionRobot &other_robot,
                                                             const robot_state::RobotState &other_state,
                                                             const AllowedCollisionMatrix &acm) const
{
  return distanceOtherHelper(state, other_robot, other_state, &acm);
}

double collision_detection::CollisionRobotFCL::distanceOtherHelper(const robot_state::RobotState &state,
                                                                   const CollisionRobot &other_robot,
                                                                   const robot_state::RobotState &other_state,
                                                                   const AllowedCollisionMatrix *acm) const
{
  FCLManager manager;
  allocSelfCollisionBroadPhase(state, manager);

  const CollisionRobotFCL& fcl_rob = dynamic_cast<const CollisionRobotFCL&>(other_robot);
  FCLObject other_fcl_obj;
  fcl_rob.constructFCLObject(other_state, other_fcl_obj);

  CollisionRequest req;
  CollisionResult res;
  CollisionData cd(&req, &res, acm);
  cd.enableGroup(getRobotModel());
  for(std::size_t i = 0; !cd.done_ && i < other_fcl_obj.collision_objects_.size(); ++i)
    manager.manager_->distance(other_fcl_obj.collision_objects_[i].get(), &cd, &distanceCallback);

  return res.distance;
}