ros_bullet_utils.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD-2-Clause)
 *
 * Copyright (c) 2021, Southwest Research Institute
 * 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.
 *
 * 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: Jorge Nicho*/
 
#include <moveit/collision_detection_bullet/bullet_integration/ros_bullet_utils.h>
 
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <moveit/utils/logger.hpp>
 
namespace collision_detection_bullet
{
void getActiveLinkNamesRecursive(std::vector<std::string>& active_links, const urdf::LinkConstSharedPtr& urdf_link,
                                 bool active)
{
  if (active)
  {
    active_links.push_back(urdf_link->name);
    for (const auto& child_link : urdf_link->child_links)
    {
      getActiveLinkNamesRecursive(active_links, child_link, active);
    }
  }
  else
  {
    for (std::size_t i = 0; i < urdf_link->child_links.size(); ++i)
    {
      const urdf::LinkConstSharedPtr child_link = urdf_link->child_links[i];
      if ((child_link->parent_joint) && (child_link->parent_joint->type != urdf::Joint::FIXED))
      {
        getActiveLinkNamesRecursive(active_links, child_link, true);
      }
      else
      {
        getActiveLinkNamesRecursive(active_links, child_link, active);
      }
    }
  }
}
 
shapes::ShapePtr constructShape(const urdf::Geometry* geom)
{
  shapes::Shape* result = nullptr;
  switch (geom->type)
  {
    case urdf::Geometry::SPHERE:
      result = new shapes::Sphere(static_cast<const urdf::Sphere*>(geom)->radius);
      break;
    case urdf::Geometry::BOX:
    {
      urdf::Vector3 dim = static_cast<const urdf::Box*>(geom)->dim;
      result = new shapes::Box(dim.x, dim.y, dim.z);
    }
    break;
    case urdf::Geometry::CYLINDER:
      result = new shapes::Cylinder(static_cast<const urdf::Cylinder*>(geom)->radius,
                                    static_cast<const urdf::Cylinder*>(geom)->length);
      break;
    case urdf::Geometry::MESH:
    {
      const urdf::Mesh* mesh = static_cast<const urdf::Mesh*>(geom);
      if (!mesh->filename.empty())
      {
        Eigen::Vector3d scale(mesh->scale.x, mesh->scale.y, mesh->scale.z);
        shapes::Mesh* m = shapes::createMeshFromResource(mesh->filename, scale);
        result = m;
      }
    }
    break;
    default:
      RCLCPP_ERROR(getLogger(), "Unknown geometry type: %d", static_cast<int>(geom->type));
      break;
  }
 
  return shapes::ShapePtr(result);
}
 
Eigen::Isometry3d urdfPose2Eigen(const urdf::Pose& pose)
{
  Eigen::Quaterniond q(pose.rotation.w, pose.rotation.x, pose.rotation.y, pose.rotation.z);
  Eigen::Isometry3d result;
  result.translation() = Eigen::Vector3d(pose.position.x, pose.position.y, pose.position.z);
  result.linear() = q.toRotationMatrix();
  return result;
}
 
rclcpp::Logger getLogger()
{
  return moveit::getLogger("collision_detection_bullet");
}
}  // namespace collision_detection_bullet