body_operations.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, 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 the 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.
*********************************************************************/

#include <geometric_shapes/body_operations.h>
#include <geometric_shapes/shape_operations.h>
#include <geometric_shapes/console_bridge_compatibility.hpp>
#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:
        CONSOLE_BRIDGE_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)
      {
        CONSOLE_BRIDGE_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);
}