world.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, 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 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, Acorn Pooley, Sachin Chitta */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
 
#include <string>
#include <vector>
#include <map>
#include <boost/function.hpp>
#include <Eigen/Geometry>
#include <eigen_stl_containers/eigen_stl_vector_container.h>
#include <moveit/transforms/transforms.h>
 
namespace shapes
{
MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
}
 
namespace collision_detection
{
MOVEIT_CLASS_FORWARD(World);  // Defines WorldPtr, ConstPtr, WeakPtr... etc
 
class World
{
public:
  World();
 
  World(const World& other);
 
  virtual ~World();
 
  /**********************************************************************/
  /* Collision Bodies                                                   */
  /**********************************************************************/
 
  MOVEIT_STRUCT_FORWARD(Object);
 
  struct Object
  {
    Object(const std::string& object_id) : id_(object_id)
    {
    }
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    std::string id_;
 
    Eigen::Isometry3d pose_;
 
    std::vector<shapes::ShapeConstPtr> shapes_;
 
    EigenSTL::vector_Isometry3d shape_poses_;
 
    EigenSTL::vector_Isometry3d global_shape_poses_;
 
    moveit::core::FixedTransformsMap subframe_poses_;
 
    moveit::core::FixedTransformsMap global_subframe_poses_;
  };
 
  std::vector<std::string> getObjectIds() const;
 
  ObjectConstPtr getObject(const std::string& object_id) const;
 
  using const_iterator = std::map<std::string, ObjectPtr>::const_iterator;
  const_iterator begin() const
  {
    return objects_.begin();
  }
  const_iterator end() const
  {
    return objects_.end();
  }
  std::size_t size() const
  {
    return objects_.size();
  }
  const_iterator find(const std::string& object_id) const
  {
    return objects_.find(object_id);
  }
 
  bool hasObject(const std::string& object_id) const;
 
  bool knowsTransform(const std::string& name) const;
 
  const Eigen::Isometry3d& getTransform(const std::string& name) const;
 
  const Eigen::Isometry3d& getTransform(const std::string& name, bool& frame_found) const;
 
  const Eigen::Isometry3d& getGlobalShapeTransform(const std::string& object_id, int shape_index) const;
 
  const EigenSTL::vector_Isometry3d& getGlobalShapeTransforms(const std::string& object_id) const;
 
  void addToObject(const std::string& object_id, const Eigen::Isometry3d& pose,
                   const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Isometry3d& shape_poses);
 
  void addToObject(const std::string& object_id, const std::vector<shapes::ShapeConstPtr>& shapes,
                   const EigenSTL::vector_Isometry3d& shape_poses)
  {
    addToObject(object_id, Eigen::Isometry3d::Identity(), shapes, shape_poses);
  }
 
  void addToObject(const std::string& object_id, const Eigen::Isometry3d& pose, const shapes::ShapeConstPtr& shape,
                   const Eigen::Isometry3d& shape_pose)
  {
    addToObject(object_id, pose, std::vector<shapes::ShapeConstPtr>{ shape }, EigenSTL::vector_Isometry3d{ shape_pose });
  }
 
  void addToObject(const std::string& object_id, const shapes::ShapeConstPtr& shape, const Eigen::Isometry3d& shape_pose)
  {
    addToObject(object_id, Eigen::Isometry3d::Identity(), std::vector<shapes::ShapeConstPtr>{ shape },
                EigenSTL::vector_Isometry3d{ shape_pose });
  }
 
  bool moveShapeInObject(const std::string& object_id, const shapes::ShapeConstPtr& shape,
                         const Eigen::Isometry3d& shape_pose);
 
  bool moveObject(const std::string& object_id, const Eigen::Isometry3d& transform);
 
  bool setObjectPose(const std::string& object_id, const Eigen::Isometry3d& pose);
 
  bool removeShapeFromObject(const std::string& object_id, const shapes::ShapeConstPtr& shape);
 
  bool removeObject(const std::string& object_id);
 
  bool setSubframesOfObject(const std::string& object_id, const moveit::core::FixedTransformsMap& subframe_poses);
 
  void clearObjects();
 
  enum ActionBits
  {
    UNINITIALIZED = 0,
    CREATE = 1,        
    DESTROY = 2,       
    MOVE_SHAPE = 4,    
    ADD_SHAPE = 8,     
    REMOVE_SHAPE = 16, 
  };
 
  class Action
  {
  public:
    Action() : action_(UNINITIALIZED)
    {
    }
    Action(int v) : action_(v)
    {
    }
    operator ActionBits() const
    {
      return ActionBits(action_);
    }
 
  private:
    int action_;
  };
 
private:
  class Observer;
 
public:
  class ObserverHandle
  {
  public:
    ObserverHandle() : observer_(nullptr)
    {
    }
 
  private:
    ObserverHandle(const Observer* o) : observer_(o)
    {
    }
    const Observer* observer_;
    friend class World;
  };
 
  using ObserverCallbackFn = boost::function<void(const ObjectConstPtr&, Action)>;
 
  ObserverHandle addObserver(const ObserverCallbackFn& callback);
 
  void removeObserver(const ObserverHandle observer_handle);
 
  void notifyObserverAllObjects(const ObserverHandle observer_handle, Action action) const;
 
private:
  void notify(const ObjectConstPtr& /*obj*/, Action /*action*/);
 
  void notifyAll(Action action);
 
  void ensureUnique(ObjectPtr& obj);
 
  /* Add a shape with no checking */
  virtual void addToObjectInternal(const ObjectPtr& obj, const shapes::ShapeConstPtr& shape,
                                   const Eigen::Isometry3d& shape_pose);
 
  void updateGlobalPosesInternal(ObjectPtr& obj, bool update_shape_poses = true, bool update_subframe_poses = true);
 
  std::map<std::string, ObjectPtr> objects_;
 
  class Observer
  {
  public:
    Observer(const ObserverCallbackFn& callback) : callback_(callback)
    {
    }
    ObserverCallbackFn callback_;
  };
 
  std::vector<Observer*> observers_;
};
}  // namespace collision_detection