127 lines
3.2 KiB
C++
127 lines
3.2 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License")
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/physics/Collision.hh"
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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/CollisionState.hh"
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using namespace gazebo;
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using namespace physics;
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/////////////////////////////////////////////////
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CollisionState::CollisionState()
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: State()
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{
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}
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/////////////////////////////////////////////////
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CollisionState::CollisionState(const CollisionPtr _collision)
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: State(_collision->GetName(), _collision->GetWorld()->GetRealTime(),
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_collision->GetWorld()->GetSimTime(),
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_collision->GetWorld()->GetIterations())
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{
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this->pose = _collision->GetRelativePose();
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}
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/////////////////////////////////////////////////
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CollisionState::CollisionState(const sdf::ElementPtr _sdf)
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: State()
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{
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// Load the state from SDF
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this->Load(_sdf);
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}
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/////////////////////////////////////////////////
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CollisionState::~CollisionState()
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{
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}
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/////////////////////////////////////////////////
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void CollisionState::Load(const sdf::ElementPtr _elem)
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{
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// Set the name
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this->name = _elem->Get<std::string>("name");
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// Set the pose
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if (_elem->HasElement("pose"))
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this->pose = _elem->Get<math::Pose>("pose");
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else
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this->pose.Set(0, 0, 0, 0, 0, 0);
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}
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/////////////////////////////////////////////////
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const math::Pose &CollisionState::GetPose() const
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{
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return this->pose;
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}
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/////////////////////////////////////////////////
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bool CollisionState::IsZero() const
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{
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return this->pose == math::Pose::Zero;
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}
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/////////////////////////////////////////////////
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CollisionState &CollisionState::operator=(const CollisionState &_state)
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{
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State::operator=(_state);
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this->pose = _state.pose;
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return *this;
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}
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/////////////////////////////////////////////////
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CollisionState CollisionState::operator-(const CollisionState &_state) const
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{
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CollisionState result;
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result.name = this->name;
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// Subtract the pose
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result.pose.pos = this->pose.pos - _state.pose.pos;
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result.pose.rot = _state.pose.rot.GetInverse() * this->pose.rot;
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return result;
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}
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/////////////////////////////////////////////////
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CollisionState CollisionState::operator+(const CollisionState &_state) const
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{
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CollisionState result;
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result.name = this->name;
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// Add the pose
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result.pose.pos = this->pose.pos + _state.pose.pos;
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result.pose.rot = _state.pose.rot * this->pose.rot;
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return result;
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}
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/////////////////////////////////////////////////
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void CollisionState::FillSDF(sdf::ElementPtr _sdf)
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{
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_sdf->ClearElements();
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_sdf->GetAttribute("name")->Set(this->name);
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_sdf->GetElement("pose")->Set(this->pose);
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}
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