collision_common.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, 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 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.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#pragma once
 
#include <array>
#include <functional>
#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);  // Defines AllowedCollisionMatrixPtr, ConstPtr, WeakPtr... etc
 
namespace BodyTypes
{
enum Type
{
  ROBOT_LINK,
 
  ROBOT_ATTACHED,
 
  WORLD_OBJECT
};
}  // namespace BodyTypes
 
using BodyType = BodyTypes::Type;
 
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;
 
  double percent_interpolation;
 
  Eigen::Vector3d nearest_points[2];
};
 
struct CostSource
{
  std::array<double, 3> aabb_min;
 
  std::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;
  }
};
 
namespace DistanceRequestTypes
{
enum DistanceRequestType
{
  GLOBAL,   
  SINGLE,   
  LIMITED,  
  ALL       
};
}
using DistanceRequestType = DistanceRequestTypes::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 moveit::core::RobotModelConstPtr& robot_model)
  {
    if (robot_model->hasJointModelGroup(group_name))
      active_components_only = &robot_model->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 moveit::core::LinkModel*>* active_components_only;
 
  const AllowedCollisionMatrix* acm;
 
  double distance_threshold;
 
  bool verbose;
 
  bool compute_gradient;
};
 
// TODO(#267): Enable check - for some reason clang-tidy wants to rename this struct to "i0"
struct DistanceResultsData  // NOLINT(readability-identifier-naming) - suppress spurious clang-tidy warning
{
  DistanceResultsData()
  {
    clear();
  }
 
  double distance;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  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();
  }
 
  bool operator<(const DistanceResultsData& other)
  {
    return (distance < other.distance);
  }
 
  bool operator>(const DistanceResultsData& other)
  {
    return (distance > other.distance);
  }
};
 
using DistanceMap = std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> >;
 
struct DistanceResult
{
  DistanceResult() : collision(false)
  {
  }
 
  bool collision;
 
  DistanceResultsData minimum_distance;
 
  DistanceMap distances;
 
  void clear()
  {
    collision = false;
    minimum_distance.clear();
    distances.clear();
  }
};
 
struct CollisionResult
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  void clear()
  {
    collision = false;
    distance = std::numeric_limits<double>::max();
    distance_result.clear();
    contact_count = 0;
    contacts.clear();
    cost_sources.clear();
  }
 
  void print() const;
 
  bool collision = false;
 
  double distance = std::numeric_limits<double>::max();
 
  DistanceResult distance_result;
 
  std::size_t contact_count = 0;
 
  using ContactMap = std::map<std::pair<std::string, std::string>, std::vector<Contact> >;
  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)
    , verbose(false)
  {
  }
  virtual ~CollisionRequest()
  {
  }
 
  std::string group_name;
 
  bool distance;
 
  bool detailed_distance = false;
 
  bool cost;
 
  bool contacts;
 
  std::size_t max_contacts;
 
  std::size_t max_contacts_per_pair;
 
  std::size_t max_cost_sources;
 
  std::function<bool(const CollisionResult&)> is_done;
 
  bool verbose;
};
 
}  // namespace collision_detection