link_model.cpp

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/* Author: Ioan Sucan */

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

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();
}

moveit::core::LinkModel::~LinkModel()
{
}

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());
  
  Eigen::Vector3d a = Eigen::Vector3d(0.0, 0.0, 0.0);
  Eigen::Vector3d b = Eigen::Vector3d(0.0, 0.0, 0.0);
  
  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::Vector3d ei = shapes::computeShapeExtents(shapes_[i].get());
    Eigen::Vector3d p1 = collision_origin_transform_[i] * (-ei / 2.0);
    Eigen::Vector3d p2 = collision_origin_transform_[i] * (-p1);
    
    if (i == 0)
    {
      a = p1;
      b = p2;
    }
    else
    {
      for (int i = 0 ; i < 3 ; ++i)
        a[i] = std::min(a[i], p1[i]);
      for (int i = 0 ; i < 3 ; ++i)
        b[i] = std::max(b[i], p2[i]);
    }
  }
  
  shape_extents_ = b - a;
}

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;
}