distance_field_common.h

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/* Author: E. Gil Jones */

#ifndef MOVEIT_DISTANCE_FIELD_DISTANCE_FIELD_COMMON_
#define MOVEIT_DISTANCE_FIELD_DISTANCE_FIELD_COMMON_

#include <eigen_stl_containers/eigen_stl_containers.h>
#include <geometric_shapes/shapes.h>
#include <geometric_shapes/bodies.h>

namespace distance_field
{

EigenSTL::vector_Vector3d static inline determineCollisionPoints(const bodies::Body* body, double resolution)
{
  EigenSTL::vector_Vector3d ret_vec;
  if(!body) return ret_vec;
  bodies::BoundingSphere sphere;
  body->computeBoundingSphere(sphere);
  //ROS_INFO_STREAM("Radius is " << sphere.radius);
  //ROS_INFO_STREAM("Center is " << sphere.center.z() << " " << sphere.center.y() << " " << sphere.center.z());
  for(double xval = sphere.center.x()-sphere.radius-resolution; xval <= sphere.center.x()+sphere.radius+resolution; xval += resolution) {
    for(double yval = sphere.center.y()-sphere.radius-resolution; yval <= sphere.center.y()+sphere.radius+resolution; yval += resolution) {
      for(double zval = sphere.center.z()-sphere.radius-resolution; zval <= sphere.center.z()+sphere.radius+resolution; zval += resolution) {
        Eigen::Vector3d rel_vec(xval, yval, zval);
        if(body->containsPoint(rel_vec)) {
          ret_vec.push_back(rel_vec);
        }
      }
    }
  }
  return ret_vec;
}

}

#endif