src/multibody/geometry.hpp

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//
// Copyright (c) 2015-2021 CNRS INRIA
//

#ifndef __pinocchio_multibody_geometry_hpp__
#define __pinocchio_multibody_geometry_hpp__

#include "pinocchio/multibody/fcl.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/container/aligned-vector.hpp"

#include "pinocchio/serialization/serializable.hpp"

#include <map>
#include <list>
#include <utility>
#include <assert.h>

namespace pinocchio
{
  
  struct GeometryModel
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    
    typedef double Scalar;
    enum { Options = 0 };
    
    typedef SE3Tpl<Scalar,Options> SE3;
    
    typedef ::pinocchio::GeometryObject GeometryObject;
    typedef PINOCCHIO_ALIGNED_STD_VECTOR(GeometryObject) GeometryObjectVector;
    typedef std::vector<CollisionPair> CollisionPairVector;
    typedef Eigen::Matrix<bool,Eigen::Dynamic,Eigen::Dynamic,Options> MatrixXb;
    
    typedef pinocchio::GeomIndex GeomIndex;
  
    GeometryModel()
    : ngeoms(0)
    , geometryObjects()
    , collisionPairs()
    {}
    
    ~GeometryModel() {};
    
    template<typename S2, int O2, template<typename,int> class _JointCollectionTpl>
    GeomIndex addGeometryObject(const GeometryObject & object,
                                const ModelTpl<S2,O2,_JointCollectionTpl> & model);
    
    GeomIndex addGeometryObject(const GeometryObject & object);

    GeomIndex getGeometryId(const std::string & name) const;

    
    bool existGeometryName(const std::string & name) const;

    void addCollisionPair(const CollisionPair & pair);
    
    void addAllCollisionPairs();
    
    void setCollisionPairs(const MatrixXb & collision_map,
                           const bool upper = true);
   
    void removeCollisionPair(const CollisionPair& pair);
    
    void removeAllCollisionPairs();
   
    bool existCollisionPair(const CollisionPair & pair) const;
    
    PairIndex findCollisionPair(const CollisionPair & pair) const;

    bool operator==(const GeometryModel & other) const
    {
      return
         ngeoms == other.ngeoms
      && geometryObjects == other.geometryObjects
      && collisionPairs == other.collisionPairs
      ;
    }
    
    bool operator!=(const GeometryModel & other) const
    {
      return !(*this == other);
    }

    friend std::ostream& operator<<(std::ostream & os,
                                    const GeometryModel & model_geom);
    
    Index ngeoms;

    GeometryObjectVector geometryObjects;
    
    CollisionPairVector collisionPairs;
    
  }; // struct GeometryModel

  struct GeometryData
  : serialization::Serializable<GeometryData>
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    
    typedef double Scalar;
    enum { Options = 0 };
    
    typedef SE3Tpl<Scalar,Options> SE3;
    typedef std::vector<GeomIndex> GeomIndexList;
    typedef Eigen::Matrix<bool,Eigen::Dynamic,Eigen::Dynamic,Options> MatrixXb;
    typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> MatrixXs;
    
#ifdef PINOCCHIO_WITH_HPP_FCL
    typedef ::pinocchio::ComputeCollision ComputeCollision;
    typedef ::pinocchio::ComputeDistance ComputeDistance;
#endif
    
    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMg;

    std::vector<bool> activeCollisionPairs;

#ifdef PINOCCHIO_WITH_HPP_FCL

    std::vector<fcl::DistanceRequest> distanceRequests;

    std::vector<fcl::DistanceResult> distanceResults;
    
    std::vector<fcl::CollisionRequest> collisionRequests;

    std::vector<fcl::CollisionResult> collisionResults;

    std::vector<Scalar> radius;

    PairIndex collisionPairIndex;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(ComputeCollision) collision_functors;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(ComputeDistance) distance_functors;
    
#endif // PINOCCHIO_WITH_HPP_FCL

    std::map<JointIndex,GeomIndexList>  innerObjects;

    std::map<JointIndex,GeomIndexList>  outerObjects;

    explicit GeometryData(const GeometryModel & geom_model);
   
    GeometryData(const GeometryData & other);
    
    GeometryData() {};
    
    ~GeometryData();

    void fillInnerOuterObjectMaps(const GeometryModel & geomModel);
    
    void activateCollisionPair(const PairIndex pair_id);
    
    void activateAllCollisionPairs();
    
    void setActiveCollisionPairs(const GeometryModel & geom_model,
                                 const MatrixXb & collision_map,
                                 const bool upper = true);
    
    void setGeometryCollisionStatus(const GeometryModel & geom_model,
                                    const GeomIndex geom_id,
                                    bool enable_collision);

    void deactivateCollisionPair(const PairIndex pair_id);
    
    void deactivateAllCollisionPairs();
    
#ifdef PINOCCHIO_WITH_HPP_FCL
    void setSecurityMargins(const GeometryModel & geom_model,
                            const MatrixXs & security_margin_map,
                            const bool upper = true);
#endif // ifdef PINOCCHIO_WITH_HPP_FCL

    friend std::ostream & operator<<(std::ostream & os, const GeometryData & geomData);
    
    bool operator==(const GeometryData & other) const
    {
      return
         oMg                  == other.oMg
      && activeCollisionPairs == other.activeCollisionPairs
#ifdef PINOCCHIO_WITH_HPP_FCL
      && distanceRequests     == other.distanceRequests
      && distanceResults      == other.distanceResults
      && collisionRequests    == other.collisionRequests
      && collisionResults     == other.collisionResults
      && radius               == other.radius
      && collisionPairIndex   == other.collisionPairIndex
#endif
      && innerObjects         == other.innerObjects
      && outerObjects         == other.outerObjects
      ;
    }
    
    bool operator!=(const GeometryData & other) const
    {
      return !(*this == other);
    }
    
  }; // struct GeometryData

} // namespace pinocchio

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "pinocchio/multibody/geometry.hxx"

#endif // ifndef __pinocchio_multibody_geometry_hpp__