link_model.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * 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.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  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 OWNER 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.
*********************************************************************/

/* Author: Ioan Sucan */

#include <moveit/robot_model/link_model.h>
#include <moveit/robot_model/joint_model.h>
#include <geometric_shapes/shape_operations.h>
#include <moveit/robot_model/aabb.h>

#include <map>
#include <boost/thread/mutex.hpp>
#include <boost/thread/lock_guard.hpp>

std::map<const moveit::core::LinkModel* const, Eigen::Vector3d> centered_bounding_box_offsets;
boost::mutex mutex_centered_bounding_box_offsets;

moveit::core::LinkModel::LinkModel(const std::string& name)
  : name_(name)
  , parent_joint_model_(NULL)
  , parent_link_model_(NULL)
  , is_parent_joint_fixed_(false)
  , joint_origin_transform_is_identity_(true)
  , first_collision_body_transform_index_(-1)
  , link_index_(-1)
{
  joint_origin_transform_.setIdentity();
  centered_bounding_box_offsets[this] = Eigen::Vector3d::Zero();
}

moveit::core::LinkModel::~LinkModel()
{
  centered_bounding_box_offsets.erase(this);
}

void moveit::core::LinkModel::setJointOriginTransform(const Eigen::Affine3d& transform)
{
  joint_origin_transform_ = transform;
  joint_origin_transform_is_identity_ =
      joint_origin_transform_.rotation().isIdentity() &&
      joint_origin_transform_.translation().norm() < std::numeric_limits<double>::epsilon();
}

void moveit::core::LinkModel::setParentJointModel(const JointModel* joint)
{
  parent_joint_model_ = joint;
  is_parent_joint_fixed_ = joint->getType() == JointModel::FIXED;
}

void moveit::core::LinkModel::setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes,
                                          const EigenSTL::vector_Affine3d& origins)
{
  shapes_ = shapes;
  collision_origin_transform_ = origins;
  collision_origin_transform_is_identity_.resize(collision_origin_transform_.size());

  core::AABB aabb;

  for (std::size_t i = 0; i < shapes_.size(); ++i)
  {
    collision_origin_transform_is_identity_[i] =
        (collision_origin_transform_[i].rotation().isIdentity() &&
         collision_origin_transform_[i].translation().norm() < std::numeric_limits<double>::epsilon()) ?
            1 :
            0;
    Eigen::Affine3d transform = collision_origin_transform_[i];

    if (shapes_[i]->type != shapes::MESH)
    {
      Eigen::Vector3d extents = shapes::computeShapeExtents(shapes_[i].get());
      aabb.extendWithTransformedBox(transform, extents);
    }
    else
    {
      // we cannot use shapes::computeShapeExtents() for meshes, since that method does not provide information about
      // the offset of the mesh origin
      const shapes::Mesh* mesh = dynamic_cast<const shapes::Mesh*>(shapes_[i].get());
      for (unsigned int j = 0; j < mesh->vertex_count; ++j)
      {
        aabb.extend(transform * Eigen::Map<Eigen::Vector3d>(&mesh->vertices[3 * j]));
      }
    }
  }

  {
    boost::lock_guard<boost::mutex> lock(mutex_centered_bounding_box_offsets);
    centered_bounding_box_offsets[this] = aabb.center();
  }
  if (shapes_.empty())
    shape_extents_.setZero();
  else
    shape_extents_ = aabb.sizes();
}

void moveit::core::LinkModel::setVisualMesh(const std::string& visual_mesh, const Eigen::Affine3d& origin,
                                            const Eigen::Vector3d& scale)
{
  visual_mesh_filename_ = visual_mesh;
  visual_mesh_origin_ = origin;
  visual_mesh_scale_ = scale;
}

const Eigen::Vector3d moveit::core::LinkModel::getCenteredBoundingBoxOffset() const
{
  Eigen::Vector3d offset;
  boost::lock_guard<boost::mutex> lock(mutex_centered_bounding_box_offsets);

  offset = centered_bounding_box_offsets.at(this);

  return offset;
}