static void extractMeshData(const aiScene *scene, const aiNode *node, const aiMatrix4x4 &parent_transform, const Eigen::Vector3d &scale,
EigenSTL::vector_Vector3d &vertices, std::vector<unsigned int> &triangles)
{
aiMatrix4x4 transform = parent_transform;
transform *= node->mTransformation;
for (unsigned int j = 0 ; j < node->mNumMeshes; ++j)
{
const aiMesh* a = scene->mMeshes[node->mMeshes[j]];
unsigned int offset = vertices.size();
for (unsigned int i = 0 ; i < a->mNumVertices ; ++i)
{
aiVector3D v = transform * a->mVertices[i];
vertices.push_back(Eigen::Vector3d(v.x * scale.x(), v.y * scale.y(), v.z * scale.z()));
}
for (unsigned int i = 0 ; i < a->mNumFaces ; ++i)
if (a->mFaces[i].mNumIndices == 3)
{
triangles.push_back(offset + a->mFaces[i].mIndices[0]);
triangles.push_back(offset + a->mFaces[i].mIndices[1]);
triangles.push_back(offset + a->mFaces[i].mIndices[2]);
}
}
for (unsigned int n = 0; n < node->mNumChildren; ++n)
extractMeshData(scene, node->mChildren[n], transform, scale, vertices, triangles);
}
void teleop_tracking::combineVertices(const std::vector<teleop_tracking::StlLoader::Facet> &facets,
EigenSTL::vector_Vector3d &vertices,
EigenSTL::vector_Vector3d &face_normals,
std::vector<unsigned> &face_indices)
{
// The assumption is that these source are empty
assert(vertices.empty());
assert(face_normals.empty());
assert(face_indices.empty());
EigenSTL::vector_Vector3f float_vector;
for (std::size_t i = 0; i < facets.size(); ++i)
{
const StlLoader::Facet& f = facets[i];
face_normals.push_back(toEigend(f.normal).normalized());
unsigned v0 = appendUnique(float_vector, toEigenf(f.vertices[0]));
unsigned v1 = appendUnique(float_vector, toEigenf(f.vertices[1]));
unsigned v2 = appendUnique(float_vector, toEigenf(f.vertices[2]));
// Small triangles should not have edges collapsed together
assert(v0 != v1);
assert(v0 != v2);
assert(v1 != v2);
face_indices.push_back(v0);
face_indices.push_back(v1);
face_indices.push_back(v2);
}
// copy the vector of single precision floats to double precision output
for (std::size_t i = 0; i < float_vector.size(); ++i)
{
Eigen::Vector3d v = float_vector[i].cast<double>();
vertices.push_back(v);
}
}
bool robot_sphere_representation::RobotSphereRepresentation::saveToSrdfFile(const std::string& srdf_filename) const
{
genSpheresForAllLinks();
// Get an SRDFWriter with the data from the current RobotModel
moveit_setup_assistant::SRDFWriter writer;
writer.initModel( *robot_model_->getURDF(), *robot_model_->getSRDF() );
// Delete any existing spheres
writer.link_sphere_approximations_.clear();
// Insert generated spheres into SRDFWriter
EigenSTL::vector_Vector3d centers;
std::vector<double> radii;
std::map<std::string, LinkSphereRepresentation*>::const_iterator lsr = links_.begin();
std::map<std::string, LinkSphereRepresentation*>::const_iterator lsr_end = links_.end();
for ( ; lsr != lsr_end ; ++lsr )
{
centers.clear();
radii.clear();
lsr->second->getSpheres(centers, radii);
if (centers.empty())
{
// a link with no geometry is represented by a single radius=0 sphere
radii.clear();
radii.push_back(0);
centers.push_back(Eigen::Vector3d(0,0,0));
}
srdf::Model::LinkSpheres lsp;
lsp.link_ = lsr->first;
for ( std::size_t i = 0 ; i < centers.size() ; ++i )
{
srdf::Model::Sphere sphere;
sphere.center_x_ = centers[i].x();
sphere.center_y_ = centers[i].y();
sphere.center_z_ = centers[i].z();
sphere.radius_ = radii[i];
lsp.spheres_.push_back(sphere);
}
writer.link_sphere_approximations_.push_back(lsp);
}
// write the SRDF to file and return true on success.
return writer.writeSRDF(srdf_filename);
}
void collision_detection::StaticDistanceField::determineCollisionPoints(
const bodies::Body& body,
double resolution,
EigenSTL::vector_Vector3d& points)
{
bodies::BoundingSphere sphere;
body.computeBoundingSphere(sphere);
double xval_s = std::floor((sphere.center.x() - sphere.radius - resolution) / resolution) * resolution;
double yval_s = std::floor((sphere.center.y() - sphere.radius - resolution) / resolution) * resolution;
double zval_s = std::floor((sphere.center.z() - sphere.radius - resolution) / resolution) * resolution;
double xval_e = sphere.center.x() + sphere.radius + resolution;
double yval_e = sphere.center.y() + sphere.radius + resolution;
double zval_e = sphere.center.z() + sphere.radius + resolution;
Eigen::Vector3d pt;
for(pt.x() = xval_s; pt.x() <= xval_e; pt.x() += resolution) {
for(pt.y() = yval_s; pt.y() <= yval_e; pt.y() += resolution) {
for(pt.z() = zval_s; pt.z() <= zval_e; pt.z() += resolution) {
if(body.containsPoint(pt)) {
points.push_back(pt);
}
}
}
}
}
void distance_field::findInternalPointsConvex(
const bodies::Body& body,
double resolution,
EigenSTL::vector_Vector3d& points)
{
bodies::BoundingSphere sphere;
body.computeBoundingSphere(sphere);
double xval_s = std::floor((sphere.center.x() - sphere.radius - resolution) / resolution) * resolution;
double yval_s = std::floor((sphere.center.y() - sphere.radius - resolution) / resolution) * resolution;
double zval_s = std::floor((sphere.center.z() - sphere.radius - resolution) / resolution) * resolution;
double xval_e = sphere.center.x() + sphere.radius + resolution;
double yval_e = sphere.center.y() + sphere.radius + resolution;
double zval_e = sphere.center.z() + sphere.radius + resolution;
Eigen::Vector3d pt;
for(pt.x() = xval_s; pt.x() <= xval_e; pt.x() += resolution) {
for(pt.y() = yval_s; pt.y() <= yval_e; pt.y() += resolution) {
for(pt.z() = zval_s; pt.z() <= zval_e; pt.z() += resolution) {
if(body.containsPoint(pt)) {
points.push_back(pt);
}
}
}
}
}
void collision_detection::StaticDistanceField::initialize(
const bodies::Body& body,
double resolution,
double space_around_body,
bool save_points)
{
points_.clear();
inv_twice_resolution_ = 1.0 / (2.0 * resolution);
logInform(" create points at res=%f",resolution);
EigenSTL::vector_Vector3d points;
determineCollisionPoints(body, resolution, points);
if (points.empty())
{
logWarn(" StaticDistanceField::initialize: No points in body. Using origin.");
points.push_back(body.getPose().translation());
if (body.getType() == shapes::MESH)
{
const bodies::ConvexMesh& mesh = dynamic_cast<const bodies::ConvexMesh&>(body);
const EigenSTL::vector_Vector3d& verts = mesh.getVertices();
logWarn(" StaticDistanceField::initialize: also using %d vertices.", int(verts.size()));
EigenSTL::vector_Vector3d::const_iterator it = verts.begin();
EigenSTL::vector_Vector3d::const_iterator it_end = verts.end();
for ( ; it != it_end ; ++it)
{
points.push_back(*it);
}
}
}
logInform(" StaticDistanceField::initialize: Using %d points.", points.size());
AABB aabb;
aabb.add(points);
logInform(" space_around_body = %f",space_around_body);
logInform(" DF: min=(%7.3f %7.3f %7.3f) max=(%7.3f %7.3f %7.3f) (pre-space)",
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
aabb.max_.x(),
aabb.max_.y(),
aabb.max_.z());
aabb.min_ -= Eigen::Vector3d(space_around_body, space_around_body, space_around_body);
aabb.max_ += Eigen::Vector3d(space_around_body, space_around_body, space_around_body);
logInform(" DF: min=(%7.3f %7.3f %7.3f) max=(%7.3f %7.3f %7.3f) (pre-adjust)",
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
aabb.max_.x(),
aabb.max_.y(),
aabb.max_.z());
aabb.min_.x() = std::floor(aabb.min_.x() / resolution) * resolution;
aabb.min_.y() = std::floor(aabb.min_.y() / resolution) * resolution;
aabb.min_.z() = std::floor(aabb.min_.z() / resolution) * resolution;
logInform(" DF: min=(%7.3f %7.3f %7.3f) max=(%7.3f %7.3f %7.3f) (post-adjust)",
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
aabb.max_.x(),
aabb.max_.y(),
aabb.max_.z());
Eigen::Vector3d size = aabb.max_ - aabb.min_;
double diagonal = size.norm();
logInform(" DF: sz=(%7.3f %7.3f %7.3f) cnt=(%d %d %d) diag=%f",
size.x(),
size.y(),
size.z(),
int(size.x()/resolution),
int(size.y()/resolution),
int(size.z()/resolution),
diagonal);
distance_field::PropagationDistanceField df(
size.x(),
size.y(),
size.z(),
resolution,
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
diagonal * 2.0,
true);
df.addPointsToField(points);
DistPosEntry default_entry;
default_entry.distance_ = diagonal * 2.0;
default_entry.cell_id_ = -1;
resize(size.x(),
size.y(),
size.z(),
resolution,
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
default_entry);
logInform(" copy %d points.",
getNumCells(distance_field::DIM_X) *
getNumCells(distance_field::DIM_Y) *
getNumCells(distance_field::DIM_Z));
int pdf_x,pdf_y,pdf_z;
int sdf_x,sdf_y,sdf_z;
Eigen::Vector3d pdf_p, sdf_p;
df.worldToGrid(aabb.min_.x(), aabb.min_.y(), aabb.min_.z(), pdf_x,pdf_y,pdf_z);
worldToGrid(aabb.min_.x(), aabb.min_.y(), aabb.min_.z(), sdf_x,sdf_y,sdf_z);
df.gridToWorld(pdf_x,pdf_y,pdf_z, pdf_p.x(), pdf_p.y(), pdf_p.z());
gridToWorld(sdf_x,sdf_y,sdf_z, sdf_p.x(), sdf_p.y(), sdf_p.z());
logInform(" DF: min=(%10.6f %10.6f %10.6f) quant->%3d %3d %3d (pdf)",
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: min=(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (pdf)",
pdf_p.x(),
pdf_p.y(),
pdf_p.z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: min=(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (sdf)",
sdf_p.x(),
sdf_p.y(),
sdf_p.z(),
sdf_x,
sdf_y,
sdf_z);
df.worldToGrid(0,0,0, pdf_x,pdf_y,pdf_z);
worldToGrid(0,0,0, sdf_x,sdf_y,sdf_z);
df.gridToWorld(pdf_x,pdf_y,pdf_z, pdf_p.x(), pdf_p.y(), pdf_p.z());
gridToWorld(sdf_x,sdf_y,sdf_z, sdf_p.x(), sdf_p.y(), sdf_p.z());
logInform(" DF: org=(%10.6f %10.6f %10.6f) quant->%3d %3d %3d (pdf)",
0.0,
0.0,
0.0,
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: org=(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (pdf)",
pdf_p.x(),
pdf_p.y(),
pdf_p.z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: org=(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (sdf)",
sdf_p.x(),
sdf_p.y(),
sdf_p.z(),
sdf_x,
sdf_y,
sdf_z);
df.worldToGrid(points[0].x(), points[0].y(), points[0].z(), pdf_x,pdf_y,pdf_z);
worldToGrid(points[0].x(), points[0].y(), points[0].z(), sdf_x,sdf_y,sdf_z);
df.gridToWorld(pdf_x,pdf_y,pdf_z, pdf_p.x(), pdf_p.y(), pdf_p.z());
gridToWorld(sdf_x,sdf_y,sdf_z, sdf_p.x(), sdf_p.y(), sdf_p.z());
logInform(" DF: p0 =(%10.6f %10.6f %10.6f) quant->%3d %3d %3d (pdf)",
points[0].x(),
points[0].y(),
points[0].z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: p0 =(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (pdf)",
pdf_p.x(),
pdf_p.y(),
pdf_p.z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: p0 =(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (sdf)",
sdf_p.x(),
sdf_p.y(),
sdf_p.z(),
sdf_x,
sdf_y,
sdf_z);
for (int z = 0 ; z < df.getZNumCells() ; ++z)
{
for (int y = 0 ; y < df.getYNumCells() ; ++y)
{
for (int x = 0 ; x < df.getXNumCells() ; ++x)
{
DistPosEntry entry;
double dist = df.getDistance(x, y, z);
const distance_field::PropDistanceFieldVoxel& voxel = df.getCell(x,y,z);
if (dist < 0)
{
// propogation distance field has a bias of -1*resolution on points inside the object
if (dist <= -resolution)
{
dist += resolution;
}
else
{
logError("PropagationDistanceField returned distance=%f between 0 and -resolution=%f."
" Did someone fix it?"
" Need to remove workaround from static_distance_field.cpp",
dist,-resolution);
dist = 0.0;
}
entry.distance_ = dist;
entry.cell_id_ = getCellId(
voxel.closest_negative_point_.x(),
voxel.closest_negative_point_.y(),
voxel.closest_negative_point_.z());
}
else
{
entry.distance_ = dist;
entry.cell_id_ = getCellId(
voxel.closest_point_.x(),
voxel.closest_point_.y(),
voxel.closest_point_.z());
}
setCell(x, y, z, entry);
}
}
}
if (save_points)
std::swap(points, points_);
}