116 lines
4.5 KiB
C++
116 lines
4.5 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2015, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** @author Jia Pan */
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#ifndef COAL_DISTANCE_H
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#define COAL_DISTANCE_H
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#include "coal/collision_object.h"
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#include "coal/collision_data.h"
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#include "coal/distance_func_matrix.h"
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#include "coal/timings.h"
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namespace coal {
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/// @brief Main distance interface: given two collision objects, and the
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/// requirements for contacts, including whether return the nearest points, this
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/// function performs the distance between them. Return value is the minimum
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/// distance generated between the two objects.
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COAL_DLLAPI CoalScalar distance(const CollisionObject* o1,
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const CollisionObject* o2,
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const DistanceRequest& request,
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DistanceResult& result);
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/// @copydoc distance(const CollisionObject*, const CollisionObject*, const
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/// DistanceRequest&, DistanceResult&)
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COAL_DLLAPI CoalScalar distance(const CollisionGeometry* o1,
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const Transform3s& tf1,
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const CollisionGeometry* o2,
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const Transform3s& tf2,
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const DistanceRequest& request,
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DistanceResult& result);
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/// This class reduces the cost of identifying the geometry pair.
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/// This is mostly useful for repeated shape-shape queries.
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///
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/// \code
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/// ComputeDistance calc_distance (o1, o2);
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/// CoalScalar distance = calc_distance(tf1, tf2, request, result);
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/// \endcode
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class COAL_DLLAPI ComputeDistance {
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public:
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ComputeDistance(const CollisionGeometry* o1, const CollisionGeometry* o2);
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CoalScalar operator()(const Transform3s& tf1, const Transform3s& tf2,
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const DistanceRequest& request,
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DistanceResult& result) const;
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bool operator==(const ComputeDistance& other) const {
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return o1 == other.o1 && o2 == other.o2 && swap_geoms == other.swap_geoms &&
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solver == other.solver && func == other.func;
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}
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bool operator!=(const ComputeDistance& other) const {
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return !(*this == other);
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}
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virtual ~ComputeDistance() {};
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protected:
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// These pointers are made mutable to let the derived classes to update
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// their values when updating the collision geometry (e.g. creating a new
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// one). This feature should be used carefully to avoid any mis usage (e.g,
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// changing the type of the collision geometry should be avoided).
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mutable const CollisionGeometry* o1;
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mutable const CollisionGeometry* o2;
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mutable GJKSolver solver;
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DistanceFunctionMatrix::DistanceFunc func;
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bool swap_geoms;
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virtual CoalScalar run(const Transform3s& tf1, const Transform3s& tf2,
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const DistanceRequest& request,
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DistanceResult& result) const;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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} // namespace coal
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#endif
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