hpp-fcl: include/hpp/fcl/collision_object.h Source File

hpp-fcl 1.7.5 HPP fork of FCL -- The Flexible Collision Library

collision_object.h
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35
39 #ifndef HPP_FCL_COLLISION_OBJECT_BASE_H
40 #define HPP_FCL_COLLISION_OBJECT_BASE_H
41
42 #include <limits>
43
44 #include <hpp/fcl/deprecated.hh>
45 #include <hpp/fcl/fwd.hh>
46 #include <hpp/fcl/BV/AABB.h>
47 #include <hpp/fcl/math/transform.h>
48
49 namespace hpp
50 {
51 namespace fcl
52 {
53
55 enum OBJECT_TYPE {OT_UNKNOWN, OT_BVH, OT_GEOM, OT_OCTREE, OT_COUNT};
56
58 enum NODE_TYPE {BV_UNKNOWN, BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS, BV_KDOP16, BV_KDOP18, BV_KDOP24,
59 GEOM_BOX, GEOM_SPHERE, GEOM_CAPSULE, GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE, GEOM_TRIANGLE, GEOM_OCTREE, NODE_COUNT};
60
63
65 class HPP_FCL_DLLAPI CollisionGeometry
66 {
67 public:
68
69 CollisionGeometry()
70 : aabb_center(Vec3f::Constant((std::numeric_limits<FCL_REAL>::max)()))
71 , aabb_radius(-1)
72 , cost_density(1)
73 , threshold_occupied(1)
74 , threshold_free(0)
75 {
76 }
77
79 CollisionGeometry(const CollisionGeometry & other)
80 : aabb_center(other.aabb_center)
81 , aabb_radius(other.aabb_radius)
82 , cost_density(other.cost_density)
83 , threshold_occupied(other.threshold_occupied)
84 , threshold_free(other.threshold_free)
85 {
86 }
87
88 virtual ~CollisionGeometry() {}
89
91 virtual CollisionGeometry* clone() const = 0;
92
94 bool operator==(const CollisionGeometry & other) const
95 {
96 return
97 cost_density == other.cost_density
98 && threshold_occupied == other.threshold_occupied
99 && threshold_free == other.threshold_free
100 && aabb_center == other.aabb_center
101 && aabb_radius == other.aabb_radius
102 && aabb_local == other.aabb_local
103 // && user_data == other.user_data
104 ;
105 }
106
108 bool operator!=(const CollisionGeometry & other) const
109 {
110 return !(*this == other);
111 }
112
114 virtual OBJECT_TYPE getObjectType() const { return OT_UNKNOWN; }
115
117 virtual NODE_TYPE getNodeType() const { return BV_UNKNOWN; }
118
120 virtual void computeLocalAABB() = 0;
121
123 void* getUserData() const
124 {
125 return user_data;
126 }
127
129 void setUserData(void *data)
130 {
131 user_data = data;
132 }
133
135 inline bool isOccupied() const
136 { return cost_density >= threshold_occupied; }
137
139 inline bool isFree() const
140 { return cost_density <= threshold_free; }
141
143 bool isUncertain() const;
144
146 Vec3f aabb_center;
147
149 FCL_REAL aabb_radius;
150
152 AABB aabb_local;
153
155 void *user_data;
156
158 FCL_REAL cost_density;
159
161 FCL_REAL threshold_occupied;
162
164 FCL_REAL threshold_free;
165
167 virtual Vec3f computeCOM() const { return Vec3f::Zero(); }
168
170 virtual Matrix3f computeMomentofInertia() const { return Matrix3f::Constant(NAN); }
171
173 virtual FCL_REAL computeVolume() const { return 0; }
174
176 virtual Matrix3f computeMomentofInertiaRelatedToCOM() const
177 {
178 Matrix3f C = computeMomentofInertia();
179 Vec3f com = computeCOM();
180 FCL_REAL V = computeVolume();
181
182 return (Matrix3f() << C(0, 0) - V * (com[1] * com[1] + com[2] * com[2]),
183 C(0, 1) + V * com[0] * com[1],
184 C(0, 2) + V * com[0] * com[2],
185 C(1, 0) + V * com[1] * com[0],
186 C(1, 1) - V * (com[0] * com[0] + com[2] * com[2]),
187 C(1, 2) + V * com[1] * com[2],
188 C(2, 0) + V * com[2] * com[0],
189 C(2, 1) + V * com[2] * com[1],
190 C(2, 2) - V * (com[0] * com[0] + com[1] * com[1])).finished();
191 }
192
193 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
194
195 };
196
198 class HPP_FCL_DLLAPI CollisionObject
199 {
200 public:
201 CollisionObject(const shared_ptr<CollisionGeometry> &cgeom_) :
202 cgeom(cgeom_), cgeom_const(cgeom_)
203 {
204 if (cgeom)
205 {
206 cgeom->computeLocalAABB();
207 computeAABB();
208 }
209 }
210
211 CollisionObject(const shared_ptr<CollisionGeometry> &cgeom_, const Transform3f& tf) :
212 cgeom(cgeom_), cgeom_const(cgeom_), t(tf)
213 {
214 cgeom->computeLocalAABB();
215 computeAABB();
216 }
217
218 CollisionObject(const shared_ptr<CollisionGeometry> &cgeom_, const Matrix3f& R, const Vec3f& T):
219 cgeom(cgeom_), cgeom_const(cgeom_), t(Transform3f(R, T))
220 {
221 cgeom->computeLocalAABB();
222 computeAABB();
223 }
224
225 ~CollisionObject()
226 {
227 }
228
230 OBJECT_TYPE getObjectType() const
231 {
232 return cgeom->getObjectType();
233 }
234
236 NODE_TYPE getNodeType() const
237 {
238 return cgeom->getNodeType();
239 }
240
242 inline const AABB& getAABB() const
243 {
244 return aabb;
245 }
246
248 inline void computeAABB()
249 {
250 if(t.getRotation().isIdentity())
251 {
252 aabb = translate(cgeom->aabb_local, t.getTranslation());
253 }
254 else
255 {
256 Vec3f center (t.transform(cgeom->aabb_center));
257 Vec3f delta(Vec3f::Constant(cgeom->aabb_radius));
258 aabb.min_ = center - delta;
259 aabb.max_ = center + delta;
260 }
261 }
262
264 void* getUserData() const
265 {
266 return user_data;
267 }
268
270 void setUserData(void *data)
271 {
272 user_data = data;
273 }
274
276 inline const Vec3f& getTranslation() const
277 {
278 return t.getTranslation();
279 }
280
282 inline const Matrix3f& getRotation() const
283 {
284 return t.getRotation();
285 }
286
288 inline const Transform3f& getTransform() const
289 {
290 return t;
291 }
292
294 void setRotation(const Matrix3f& R)
295 {
296 t.setRotation(R);
297 }
298
300 void setTranslation(const Vec3f& T)
301 {
302 t.setTranslation(T);
303 }
304
305
306
308 void setTransform(const Matrix3f& R, const Vec3f& T)
309 {
310 t.setTransform(R, T);
311 }
312
313
314
316 void setTransform(const Transform3f& tf)
317 {
318 t = tf;
319 }
320
322 bool isIdentityTransform() const
323 {
324 return t.isIdentity();
325 }
326
328 void setIdentityTransform()
329 {
330 t.setIdentity();
331 }
332
334 const shared_ptr<const CollisionGeometry>& collisionGeometry() const
335 {
336 return cgeom_const;
337 }
338
340 const shared_ptr<CollisionGeometry>& collisionGeometry()
341 {
342 return cgeom;
343 }
344
345 protected:
346
347 shared_ptr<CollisionGeometry> cgeom;
348 shared_ptr<const CollisionGeometry> cgeom_const;
349
350 Transform3f t;
351
353 mutable AABB aabb;
354
356 void *user_data;
357 };
358
359 }
360
361 } // namespace hpp
362
363 #endif
AABB.h
hpp::fcl::AABB
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:56
hpp::fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_object.h:66
hpp::fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:199
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
fwd.hh
hpp::fcl::translate
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
hpp::fcl::CollisionGeometry::computeCOM
virtual Vec3f computeCOM() const
compute center of mass
Definition: collision_object.h:167
hpp::fcl::CollisionGeometry::getUserData
void * getUserData() const
get user data in geometry
Definition: collision_object.h:123
hpp::fcl::CollisionObject::CollisionObject
CollisionObject(const shared_ptr< CollisionGeometry > &cgeom_)
Definition: collision_object.h:201
hpp::fcl::CollisionGeometry::isUncertain
bool isUncertain() const
whether the object has some uncertainty
hpp::fcl::CollisionObject::getTransform
const Transform3f & getTransform() const
get object's transform
Definition: collision_object.h:288
hpp::fcl::CollisionGeometry::cost_density
FCL_REAL cost_density
collision cost for unit volume
Definition: collision_object.h:158
hpp::fcl::CollisionObject::getTranslation
const Vec3f & getTranslation() const
get translation of the object
Definition: collision_object.h:276
hpp::fcl::CollisionGeometry::aabb_local
AABB aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
Definition: collision_object.h:152
hpp::fcl::CollisionObject::setUserData
void setUserData(void *data)
set user data in object
Definition: collision_object.h:270
hpp::fcl::CollisionGeometry::isOccupied
bool isOccupied() const
whether the object is completely occupied
Definition: collision_object.h:135
hpp::fcl::CollisionObject::isIdentityTransform
bool isIdentityTransform() const
whether the object is in local coordinate
Definition: collision_object.h:322
hpp::fcl::CollisionObject::collisionGeometry
const shared_ptr< CollisionGeometry > & collisionGeometry()
get geometry from the object instance
Definition: collision_object.h:340
hpp::fcl::CollisionGeometry::operator!=
bool operator!=(const CollisionGeometry &other) const
Difference operator.
Definition: collision_object.h:108
hpp::fcl::CollisionGeometry::threshold_occupied
FCL_REAL threshold_occupied
threshold for occupied ( >= is occupied)
Definition: collision_object.h:161
hpp::fcl::CollisionGeometry::aabb_radius
FCL_REAL aabb_radius
AABB radius.
Definition: collision_object.h:149
hpp::fcl::OT_GEOM
@ OT_GEOM
Definition: collision_object.h:55
hpp::fcl::OT_OCTREE
@ OT_OCTREE
Definition: collision_object.h:55
hpp::fcl::OT_BVH
@ OT_BVH
Definition: collision_object.h:55
hpp::fcl::OT_COUNT
@ OT_COUNT
Definition: collision_object.h:55
hpp::fcl::OT_UNKNOWN
@ OT_UNKNOWN
Definition: collision_object.h:55
hpp::fcl::CollisionGeometry::clone
virtual CollisionGeometry * clone() const =0
Clone *this into a new CollisionGeometry.
hpp::fcl::CollisionObject::setTransform
void setTransform(const Transform3f &tf)
set object's transform
Definition: collision_object.h:316
hpp::fcl::CollisionGeometry::getObjectType
virtual OBJECT_TYPE getObjectType() const
get the type of the object
Definition: collision_object.h:114
hpp::fcl::CollisionObject::CollisionObject
CollisionObject(const shared_ptr< CollisionGeometry > &cgeom_, const Matrix3f &R, const Vec3f &T)
Definition: collision_object.h:218
hpp::fcl::CollisionGeometry::user_data
void * user_data
pointer to user defined data specific to this object
Definition: collision_object.h:155
hpp::fcl::CollisionGeometry::threshold_free
FCL_REAL threshold_free
threshold for free (<= is free)
Definition: collision_object.h:164
hpp::fcl::CollisionGeometry::isFree
bool isFree() const
whether the object is completely free
Definition: collision_object.h:139
hpp::fcl::CollisionGeometry::operator==
bool operator==(const CollisionGeometry &other) const
Equality operator.
Definition: collision_object.h:94
hpp::fcl::CollisionGeometry::CollisionGeometry
CollisionGeometry(const CollisionGeometry &other)
Copy constructor.
Definition: collision_object.h:79
hpp::fcl::CollisionObject::setTranslation
void setTranslation(const Vec3f &T)
set object's translation
Definition: collision_object.h:300
hpp::fcl::BV_UNKNOWN
@ BV_UNKNOWN
Definition: collision_object.h:58
hpp::fcl::GEOM_TRIANGLE
@ GEOM_TRIANGLE
Definition: collision_object.h:59
hpp::fcl::GEOM_CAPSULE
@ GEOM_CAPSULE
Definition: collision_object.h:59
hpp::fcl::NODE_COUNT
@ NODE_COUNT
Definition: collision_object.h:59
hpp::fcl::BV_kIOS
@ BV_kIOS
Definition: collision_object.h:58
hpp::fcl::BV_KDOP18
@ BV_KDOP18
Definition: collision_object.h:58
hpp::fcl::GEOM_PLANE
@ GEOM_PLANE
Definition: collision_object.h:59
hpp::fcl::BV_AABB
@ BV_AABB
Definition: collision_object.h:58
hpp::fcl::BV_OBBRSS
@ BV_OBBRSS
Definition: collision_object.h:58
hpp::fcl::GEOM_HALFSPACE
@ GEOM_HALFSPACE
Definition: collision_object.h:59
hpp::fcl::BV_KDOP16
@ BV_KDOP16
Definition: collision_object.h:58
hpp::fcl::GEOM_BOX
@ GEOM_BOX
Definition: collision_object.h:59
hpp::fcl::BV_OBB
@ BV_OBB
Definition: collision_object.h:58
hpp::fcl::BV_KDOP24
@ BV_KDOP24
Definition: collision_object.h:58
hpp::fcl::GEOM_CONVEX
@ GEOM_CONVEX
Definition: collision_object.h:59
hpp::fcl::GEOM_CYLINDER
@ GEOM_CYLINDER
Definition: collision_object.h:59
hpp::fcl::GEOM_SPHERE
@ GEOM_SPHERE
Definition: collision_object.h:59
hpp::fcl::BV_RSS
@ BV_RSS
Definition: collision_object.h:58
hpp::fcl::GEOM_CONE
@ GEOM_CONE
Definition: collision_object.h:59
hpp::fcl::GEOM_OCTREE
@ GEOM_OCTREE
Definition: collision_object.h:59
hpp::fcl::CollisionObject::cgeom_const
shared_ptr< const CollisionGeometry > cgeom_const
Definition: collision_object.h:348
hpp::fcl::CollisionObject::setTransform
void setTransform(const Matrix3f &R, const Vec3f &T)
set object's transform
Definition: collision_object.h:308
hpp::fcl::CollisionGeometry::computeMomentofInertia
virtual Matrix3f computeMomentofInertia() const
compute the inertia matrix, related to the origin
Definition: collision_object.h:170
hpp::fcl::CollisionObject::user_data
void * user_data
pointer to user defined data specific to this object
Definition: collision_object.h:356
hpp::fcl::CollisionGeometry::~CollisionGeometry
virtual ~CollisionGeometry()
Definition: collision_object.h:88
hpp::fcl::CollisionGeometry::computeMomentofInertiaRelatedToCOM
virtual Matrix3f computeMomentofInertiaRelatedToCOM() const
compute the inertia matrix, related to the com
Definition: collision_object.h:176
hpp::fcl::CollisionObject::computeAABB
void computeAABB()
compute the AABB in world space
Definition: collision_object.h:248
hpp::fcl::CollisionObject::CollisionObject
CollisionObject(const shared_ptr< CollisionGeometry > &cgeom_, const Transform3f &tf)
Definition: collision_object.h:211
hpp::fcl::CollisionGeometry::computeVolume
virtual FCL_REAL computeVolume() const
compute the volume
Definition: collision_object.h:173
hpp::fcl::CollisionObject::getObjectType
OBJECT_TYPE getObjectType() const
get the type of the object
Definition: collision_object.h:230
hpp::fcl::CollisionObject::setIdentityTransform
void setIdentityTransform()
set the object in local coordinate
Definition: collision_object.h:328
hpp::fcl::CollisionGeometry::aabb_center
Vec3f aabb_center
AABB center in local coordinate.
Definition: collision_object.h:146
hpp::fcl::CollisionObject::getNodeType
NODE_TYPE getNodeType() const
get the node type
Definition: collision_object.h:236
hpp::fcl::CollisionObject::getUserData
void * getUserData() const
get user data in object
Definition: collision_object.h:264
hpp::fcl::CollisionGeometry::setUserData
void setUserData(void *data)
set user data in geometry
Definition: collision_object.h:129
hpp::fcl::CollisionGeometry::CollisionGeometry
CollisionGeometry()
Definition: collision_object.h:69
hpp::fcl::CollisionGeometry::computeLocalAABB
virtual void computeLocalAABB()=0
compute the AABB for object in local coordinate
hpp::fcl::CollisionObject::setRotation
void setRotation(const Matrix3f &R)
set object's rotation matrix
Definition: collision_object.h:294
hpp::fcl::CollisionObject::cgeom
shared_ptr< CollisionGeometry > cgeom
Definition: collision_object.h:347
hpp::fcl::CollisionObject::getAABB
const AABB & getAABB() const
get the AABB in world space
Definition: collision_object.h:242
hpp::fcl::CollisionObject::getRotation
const Matrix3f & getRotation() const
get matrix rotation of the object
Definition: collision_object.h:282
hpp::fcl::CollisionObject::~CollisionObject
~CollisionObject()
Definition: collision_object.h:225
hpp::fcl::CollisionObject::aabb
AABB aabb
AABB in global coordinate.
Definition: collision_object.h:353
hpp::fcl::CollisionGeometry::getNodeType
virtual NODE_TYPE getNodeType() const
get the node type
Definition: collision_object.h:117
hpp::fcl::CollisionObject::t
Transform3f t
Definition: collision_object.h:350
hpp::fcl::CollisionObject::collisionGeometry
const shared_ptr< const CollisionGeometry > & collisionGeometry() const
get geometry from the object instance
Definition: collision_object.h:334
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::OBJECT_TYPE
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition: collision_object.h:55
hpp::fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_object.h:58
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp
Main namespace.
Definition: AABB.h:44
transform.h