VoxelGridShape.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   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 HOLDER 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.
 */
 
#ifndef DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
#define DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
 
#include "dart/config.hpp"
 
#if HAVE_OCTOMAP
 
#  include <octomap/octomap.h>
#  include "dart/collision/fcl/BackwardCompatibility.hpp"
#  include "dart/dynamics/Frame.hpp"
#  include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class VoxelGridShape : public Shape
{
public:
  explicit VoxelGridShape(double resolution = 0.01);
 
  explicit VoxelGridShape(fcl_shared_ptr<octomap::OcTree> octree);
 
  ~VoxelGridShape() override = default;
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  void setOctree(fcl_shared_ptr<octomap::OcTree> octree);
 
  fcl_shared_ptr<octomap::OcTree> getOctree();
 
  fcl_shared_ptr<const octomap::OcTree> getOctree() const;
 
  void updateOccupancy(const Eigen::Vector3d& point, bool occupied = true);
 
  void updateOccupancy(const Eigen::Vector3d& from, const Eigen::Vector3d& to);
 
  void updateOccupancy(
      const octomap::Pointcloud& pointCloud,
      const Eigen::Vector3d& sensorOrigin = Eigen::Vector3d::Zero(),
      const Frame* relativeTo = Frame::World());
 
  void updateOccupancy(
      const octomap::Pointcloud& pointCloud,
      const Eigen::Vector3d& sensorOrigin,
      const Eigen::Isometry3d& relativeTo);
 
  double getOccupancy(const Eigen::Vector3d& point) const;
 
  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;
 
  // Documentation inherited.
  void notifyColorUpdated(const Eigen::Vector4d& color) override;
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  // Documentation inherited.
  void updateVolume() const override;
 
  fcl_shared_ptr<octomap::OcTree> mOctree;
  // TODO(JS): Use std::shared_ptr once we drop supporting FCL (< 0.5)
};
 
} // namespace dynamics
} // namespace dart
 
#endif // HAVE_OCTOMAP
 
#endif // DART_DYNAMICS_VOXELGRIDSHAPE_HPP_