body_operations.cpp

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#include <geometric_shapes/body_operations.h>
#include <geometric_shapes/shape_operations.h>
#include <console_bridge/console.h>
#include <Eigen/Geometry>

bodies::Body* bodies::createBodyFromShape(const shapes::Shape *shape)
{
  Body *body = NULL;

  if (shape)
    switch (shape->type)
    {
    case shapes::BOX:
      body = new bodies::Box(shape);
      break;
    case shapes::SPHERE:
      body = new bodies::Sphere(shape);
      break;
    case shapes::CYLINDER:
      body = new bodies::Cylinder(shape);
      break;
    case shapes::MESH:
      body = new bodies::ConvexMesh(shape);
      break;
    default:
      logError("Creating body from shape: Unknown shape type %d", (int)shape->type);
      break;
    }

  return body;
}

void bodies::mergeBoundingSpheres(const std::vector<BoundingSphere> &spheres, BoundingSphere &mergedSphere)
{
  if (spheres.empty())
  {
    mergedSphere.center = Eigen::Vector3d(0.0, 0.0, 0.0);
    mergedSphere.radius = 0.0;
  }
  else
  {
    mergedSphere = spheres[0];
    for (unsigned int i = 1 ; i < spheres.size() ; ++i)
    {
      if (spheres[i].radius <= 0.0)
        continue;
      Eigen::Vector3d diff = spheres[i].center-mergedSphere.center;
      double d = diff.norm();
      if (d + mergedSphere.radius <= spheres[i].radius)
      {
        mergedSphere.center = spheres[i].center;
        mergedSphere.radius = spheres[i].radius;
      }
      else if (d + spheres[i].radius > mergedSphere.radius)
      {
        Eigen::Vector3d delta = mergedSphere.center - spheres[i].center;
        mergedSphere.radius = (delta.norm() + spheres[i].radius + mergedSphere.radius)/2.0;
        mergedSphere.center = delta.normalized() * (mergedSphere.radius - spheres[i].radius) + spheres[i].center;
      }
    }
  }
}

namespace bodies
{
template<typename T>
Body* constructBodyFromMsgHelper(const T &shape_msg, const geometry_msgs::Pose &pose)
{
  shapes::Shape *shape = shapes::constructShapeFromMsg(shape_msg);

  if (shape)
  {
    Body *body = createBodyFromShape(shape);
    if (body)
    {
      Eigen::Quaterniond q(pose.orientation.w, pose.orientation.x, pose.orientation.y, pose.orientation.z);
      if (fabs(q.squaredNorm() - 1.0) > 1e-3)
      {
        logError("Quaternion is not normalized. Assuming identity.");
        q = Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0);
      }
      Eigen::Affine3d af(Eigen::Translation3d(pose.position.x, pose.position.y, pose.position.z) * q.toRotationMatrix());
      body->setPose(af);
      return body;
    }
  }
  return NULL;
}
}

bodies::Body* bodies::constructBodyFromMsg(const shapes::ShapeMsg &shape_msg, const geometry_msgs::Pose &pose)
{
  return constructBodyFromMsgHelper(shape_msg, pose);
}

bodies::Body* bodies::constructBodyFromMsg(const shape_msgs::Mesh &shape_msg, const geometry_msgs::Pose &pose)
{
  return constructBodyFromMsgHelper(shape_msg, pose);
}

bodies::Body* bodies::constructBodyFromMsg(const shape_msgs::SolidPrimitive &shape_msg, const geometry_msgs::Pose &pose)
{
  return constructBodyFromMsgHelper(shape_msg, pose);
}

void bodies::computeBoundingSphere(const std::vector<const bodies::Body*>& bodies, bodies::BoundingSphere& sphere) {
  Eigen::Vector3d sum(0.0,0.0,0.0);

  //TODO - expand to all body types
  unsigned int vertex_count = 0;
  for(unsigned int i = 0; i < bodies.size(); i++) {
    const bodies::ConvexMesh* conv = dynamic_cast<const bodies::ConvexMesh*>(bodies[i]);
    if(!conv) continue;
    for(unsigned int j = 0; j < conv->getScaledVertices().size(); j++, vertex_count++) {
      sum += conv->getPose()*conv->getScaledVertices()[j];
    }
  }

  sphere.center=sum/(double)vertex_count;

  double max_dist_squared = 0.0;
  for(unsigned int i = 0; i < bodies.size(); i++) {
    const bodies::ConvexMesh* conv = dynamic_cast<const bodies::ConvexMesh*>(bodies[i]);
    if(!conv) continue;
    for(unsigned int j = 0; j < conv->getScaledVertices().size(); j++) {
      double dist = (conv->getPose()*conv->getScaledVertices()[j]-sphere.center).squaredNorm();
      if(dist > max_dist_squared) {
        max_dist_squared = dist;
      }
    }
  }
  sphere.radius = sqrt(max_dist_squared);
}