collision_common_distance_field.h

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/* Author: E. Gil Jones */
 
#pragma once
 
#include <moveit/robot_state/robot_state.h>
#include <moveit/macros/class_forward.h>
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_env.h>
#include <moveit/collision_distance_field/collision_distance_field_types.h>
 
namespace collision_detection
{
MOVEIT_STRUCT_FORWARD(GroupStateRepresentation);
MOVEIT_STRUCT_FORWARD(DistanceFieldCacheEntry);
 
struct GroupStateRepresentation
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  GroupStateRepresentation(){};
  GroupStateRepresentation(const GroupStateRepresentation& gsr)
  {
    link_body_decompositions_.resize(gsr.link_body_decompositions_.size());
    for (unsigned int i = 0; i < gsr.link_body_decompositions_.size(); ++i)
    {
      if (gsr.link_body_decompositions_[i])
      {
        link_body_decompositions_[i] =
            std::make_shared<PosedBodySphereDecomposition>(*gsr.link_body_decompositions_[i]);
      }
    }
 
    link_distance_fields_.assign(gsr.link_distance_fields_.begin(), gsr.link_distance_fields_.end());
 
    attached_body_decompositions_.resize(gsr.attached_body_decompositions_.size());
    for (unsigned int i = 0; i < gsr.attached_body_decompositions_.size(); ++i)
    {
      (*attached_body_decompositions_[i]) = (*gsr.attached_body_decompositions_[i]);
    }
    gradients_ = gsr.gradients_;
  }
 
  DistanceFieldCacheEntryConstPtr dfce_;
 
  std::vector<PosedBodySphereDecompositionPtr> link_body_decompositions_;
 
  std::vector<PosedBodySphereDecompositionVectorPtr> attached_body_decompositions_;
 
  std::vector<PosedDistanceFieldPtr> link_distance_fields_;
 
  std::vector<GradientInfo> gradients_;
};
 
struct DistanceFieldCacheEntry
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  std::string group_name_;
  moveit::core::RobotStatePtr state_;
  std::vector<unsigned int> state_check_indices_;
  std::vector<double> state_values_;
  /* the acm used when generating this dfce.  This dfce cannot be used to check
   * collisions with a different acm. */
  collision_detection::AllowedCollisionMatrix acm_;
  distance_field::DistanceFieldPtr distance_field_;
  GroupStateRepresentationPtr pregenerated_group_state_representation_;
  std::vector<std::string> link_names_;
  std::vector<bool> link_has_geometry_;
  std::vector<unsigned int> link_body_indices_;
  std::vector<unsigned int> link_state_indices_;
  std::vector<std::string> attached_body_names_;
  std::vector<unsigned int> attached_body_link_state_indices_;
  std::vector<bool> self_collision_enabled_;
  std::vector<std::vector<bool>> intra_group_collision_enabled_;
};
 
BodyDecompositionConstPtr getBodyDecompositionCacheEntry(const shapes::ShapeConstPtr& shape, double resolution);
 
PosedBodyPointDecompositionVectorPtr getCollisionObjectPointDecomposition(const collision_detection::World::Object& obj,
                                                                          double resolution);
 
PosedBodySphereDecompositionVectorPtr getAttachedBodySphereDecomposition(const moveit::core::AttachedBody* att,
                                                                         double resolution);
 
PosedBodyPointDecompositionVectorPtr getAttachedBodyPointDecomposition(const moveit::core::AttachedBody* att,
                                                                       double resolution);
 
void getBodySphereVisualizationMarkers(const GroupStateRepresentationPtr& gsr, const std::string& reference_frame,
                                       visualization_msgs::msg::MarkerArray& body_marker_array);
}  // namespace collision_detection