include/moveit/collision_detection/collision_common.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_COMMON_
#define MOVEIT_COLLISION_DETECTION_COLLISION_COMMON_

#include <boost/array.hpp>
#include <boost/function.hpp>
#include <vector>
#include <string>
#include <map>
#include <set>
#include <Eigen/Core>
#include <moveit/robot_model/robot_model.h>

namespace collision_detection
{
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix);

namespace BodyTypes
{
enum Type
{
  ROBOT_LINK,

  ROBOT_ATTACHED,

  WORLD_OBJECT
};
}

typedef BodyTypes::Type BodyType;

struct Contact
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Eigen::Vector3d pos;

  Eigen::Vector3d normal;

  double depth;

  std::string body_name_1;

  BodyType body_type_1;

  std::string body_name_2;

  BodyType body_type_2;
};

struct CostSource
{
  boost::array<double, 3> aabb_min;

  boost::array<double, 3> aabb_max;

  double cost;

  double getVolume() const
  {
    return (aabb_max[0] - aabb_min[0]) * (aabb_max[1] - aabb_min[1]) * (aabb_max[2] - aabb_min[2]);
  }

  bool operator<(const CostSource& other) const
  {
    double c1 = cost * getVolume();
    double c2 = other.cost * other.getVolume();
    if (c1 > c2)
      return true;
    if (c1 < c2)
      return false;
    if (cost < other.cost)
      return false;
    if (cost > other.cost)
      return true;
    return aabb_min < other.aabb_min;
  }
};

struct CollisionResult
{
  CollisionResult() : collision(false), distance(std::numeric_limits<double>::max()), contact_count(0)
  {
  }
  typedef std::map<std::pair<std::string, std::string>, std::vector<Contact> > ContactMap;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  void clear()
  {
    collision = false;
    distance = std::numeric_limits<double>::max();
    contact_count = 0;
    contacts.clear();
    cost_sources.clear();
  }

  bool collision;

  double distance;

  std::size_t contact_count;

  ContactMap contacts;

  std::set<CostSource> cost_sources;
};

struct CollisionRequest
{
  CollisionRequest()
    : distance(false)
    , cost(false)
    , contacts(false)
    , max_contacts(1)
    , max_contacts_per_pair(1)
    , max_cost_sources(1)
    , min_cost_density(0.2)
    , verbose(false)
  {
  }
  virtual ~CollisionRequest()
  {
  }

  std::string group_name;

  bool distance;

  bool cost;

  bool contacts;

  std::size_t max_contacts;

  std::size_t max_contacts_per_pair;

  std::size_t max_cost_sources;

  double min_cost_density;

  boost::function<bool(const CollisionResult&)> is_done;

  bool verbose;
};

namespace DistanceRequestTypes
{
enum DistanceRequestType
{
  GLOBAL,   
  SINGLE,   
  LIMITED,  
  ALL       
};
}
typedef DistanceRequestTypes::DistanceRequestType DistanceRequestType;

struct DistanceRequest
{
  DistanceRequest()
    : enable_nearest_points(false)
    , enable_signed_distance(false)
    , type(DistanceRequestType::GLOBAL)
    , max_contacts_per_body(1)
    , active_components_only(nullptr)
    , acm(nullptr)
    , distance_threshold(std::numeric_limits<double>::max())
    , verbose(false)
    , compute_gradient(false)
  {
  }

  void enableGroup(const robot_model::RobotModelConstPtr& kmodel)
  {
    if (kmodel->hasJointModelGroup(group_name))
      active_components_only = &kmodel->getJointModelGroup(group_name)->getUpdatedLinkModelsSet();
    else
      active_components_only = nullptr;
  }

  bool enable_nearest_points;

  bool enable_signed_distance;

  DistanceRequestType type;

  std::size_t max_contacts_per_body;

  std::string group_name;

  const std::set<const robot_model::LinkModel*>* active_components_only;

  const AllowedCollisionMatrix* acm;

  double distance_threshold;

  bool verbose;

  bool compute_gradient;
};

struct DistanceResultsData
{
  DistanceResultsData()
  {
    clear();
  }

  double distance;

  Eigen::Vector3d nearest_points[2];

  std::string link_names[2];

  BodyType body_types[2];

  Eigen::Vector3d normal;

  void clear()
  {
    distance = std::numeric_limits<double>::max();
    nearest_points[0].setZero();
    nearest_points[1].setZero();
    body_types[0] = BodyType::WORLD_OBJECT;
    body_types[1] = BodyType::WORLD_OBJECT;
    link_names[0] = "";
    link_names[1] = "";
    normal.setZero();
  }

  void operator=(const DistanceResultsData& other)
  {
    distance = other.distance;
    nearest_points[0] = other.nearest_points[0];
    nearest_points[1] = other.nearest_points[1];
    link_names[0] = other.link_names[0];
    link_names[1] = other.link_names[1];
    body_types[0] = other.body_types[0];
    body_types[1] = other.body_types[1];
    normal = other.normal;
  }

  bool operator<(const DistanceResultsData& other)
  {
    return (distance < other.distance);
  }

  bool operator>(const DistanceResultsData& other)
  {
    return (distance > other.distance);
  }
};

typedef std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> > DistanceMap;

struct DistanceResult
{
  DistanceResult() : collision(false)
  {
  }

  bool collision;

  DistanceResultsData minimum_distance;

  DistanceMap distances;

  void clear()
  {
    collision = false;
    minimum_distance.clear();
    distances.clear();
  }
};
}

#endif