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 <console_bridge/console.h>

namespace collision_detection
{
  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;
  };

}

#endif