collision_common.h

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/* 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 = 0.0;
 
  std::string body_name_1;
 
  BodyType body_type_1;
 
  std::string body_name_2;
 
  BodyType body_type_2;
 
  double percent_interpolation = 0.0;
 
  Eigen::Vector3d nearest_points[2];
};
 
struct CostSource
{
  std::array<double, 3> aabb_min;
 
  std::array<double, 3> aabb_max;
 
  double cost = 0.0;
 
  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;
 
struct CollisionRequest
{
  std::string group_name = "";
 
  bool distance = false;
 
  bool detailed_distance = false;
 
  bool cost = false;
 
  bool contacts = false;
 
  std::size_t max_contacts = 1;
 
  std::size_t max_contacts_per_pair = 1;
 
  std::size_t max_cost_sources = 1;
 
  std::function<bool(const CollisionResult&)> is_done = nullptr;
 
  bool verbose = false;
};
 
namespace DistanceRequestTypes
{
enum DistanceRequestType
{
  GLOBAL,   
  SINGLE,   
  LIMITED,  
  ALL       
};
}
using DistanceRequestType = DistanceRequestTypes::DistanceRequestType;
 
struct DistanceRequest
{
  /*** \brief Compute \e active_components_only_ based on \e req_. This
      includes links that are in the kinematic model but outside this group, if those links are descendants of
      joints in this group that have their values updated. */
  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 = false;
 
  bool enable_signed_distance = false;
 
  DistanceRequestType type = DistanceRequestType::GLOBAL;
 
  std::size_t max_contacts_per_body = 1;
 
  std::string group_name = "";
 
  const std::set<const moveit::core::LinkModel*>* active_components_only = nullptr;
 
  const AllowedCollisionMatrix* acm = nullptr;
 
  double distance_threshold = std::numeric_limits<double>::max();
 
  bool verbose = false;
 
  bool compute_gradient = false;
};
 
// 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
{
  bool collision = false;
 
  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;
};
}  // namespace collision_detection