def test_collision_and_distance_box_sphere(self):
dis, result = fcl.distance(
fcl.CollisionObject(self.box, self.trans1),
fcl.CollisionObject(self.sphere, self.trans2),
fcl.DistanceRequest(True))
self.assertEqual(dis, self._ref_dist)
self.assertEqual(result.min_distance, self._ref_dist)
self.assertEqual(result.nearest_points, self._nearest_points)
self.assertEqual(result.b1, -1)
self.assertEqual(result.b2, -1)
dis, result = fcl.distance(
fcl.CollisionObject(self.box,
transform.Transform(transform.Quaternion())),
fcl.CollisionObject(
self.sphere,
transform.Transform(transform.Quaternion(), [0.0, 0.0, 0.0])),
fcl.DistanceRequest(True))
self.assertEqual(dis, -1.0)
self.assertEqual(result.min_distance, -1.0)
for i in result.nearest_points:
for j in i:
self.assertAlmostEqual(0.0, j)
def test_collision_and_distance_box_sphere(self):
dis, result = fcl.distance(
fcl.CollisionObject(self.box, self.trans1),
fcl.CollisionObject(self.sphere, self.trans2),
fcl.DistanceRequest(True),
)
self.assertEqual(dis, self._ref_dist)
self.assertEqual(result.min_distance, self._ref_dist)
self.assertEqual(result.nearest_points, self._nearest_points)
self.assertEqual(result.b1, -1)
self.assertEqual(result.b2, -1)
dis, result = fcl.distance(
fcl.CollisionObject(self.box, transform.Transform(transform.Quaternion())),
fcl.CollisionObject(self.sphere, transform.Transform(transform.Quaternion(), [0.0, 0.0, 0.0])),
fcl.DistanceRequest(True),
)
self.assertEqual(dis, -1.0)
self.assertEqual(result.min_distance, -1.0)
for i in result.nearest_points:
for j in i:
self.assertAlmostEqual(0.0, j)
def test_distance_box_sphere_translated(self):
ret, result = fcl.collide(
fcl.CollisionObject(self.box, self.trans1),
fcl.CollisionObject(self.sphere, self.trans2),
fcl.CollisionRequest())
self.assertEqual(result.contacts, [])
self.assertEqual(result.cost_sources, [])
dis, result = fcl.distance(
fcl.CollisionObject(self.box, self.trans1),
fcl.CollisionObject(self.sphere, self.trans2),
fcl.DistanceRequest(True))
self.assertEqual(dis, self._ref_dist)
self.assertEqual(result.min_distance, self._ref_dist)
self.assertEqual(result.nearest_points, self._nearest_points)
self.assertEqual(result.o2.radius, self._radius)
self.assertEqual(result.o1.side, self._side)
def test_distance_box_sphere_translated(self):
ret, result = fcl.collide(
fcl.CollisionObject(self.box, self.trans1),
fcl.CollisionObject(self.sphere, self.trans2),
fcl.CollisionRequest(),
)
self.assertEqual(result.contacts, [])
self.assertEqual(result.cost_sources, [])
dis, result = fcl.distance(
fcl.CollisionObject(self.box, self.trans1),
fcl.CollisionObject(self.sphere, self.trans2),
fcl.DistanceRequest(True),
)
self.assertEqual(dis, self._ref_dist)
self.assertEqual(result.min_distance, self._ref_dist)
self.assertEqual(result.nearest_points, self._nearest_points)
self.assertEqual(result.o2.radius, self._radius)
self.assertEqual(result.o1.side, self._side)
def getLinkDistance(self, l0_name, l1_name, joint_q):
# type: (str, str, np._ArrayLike[float]) -> float
'''get shortest distance from link with id l0 to link with id l1 for posture joint_q'''
from fcl import fcl, collision_data, transform
#get link rotation and position in world frame
q = iDynTree.VectorDynSize.fromList(joint_q)
self.model.dynComp.setRobotState(q, self.dq_zero, self.dq_zero, self.world_gravity)
if l0_name in self.model.linkNames: # if robot link
f0 = self.model.dynComp.getFrameIndex(l0_name)
t0 = self.model.dynComp.getWorldTransform(f0)
rot0 = t0.getRotation().toNumPy()
pos0 = t0.getPosition().toNumPy()
s0 = self.config['scaleCollisionHull']
else: # if world link
pos0 = self.link_cuboid_hulls[l0_name][1]
rot0 = eulerAnglesToRotationMatrix(self.link_cuboid_hulls[l0_name][2])
s0 = 1
if l1_name in self.model.linkNames: # if robot link
f1 = self.model.dynComp.getFrameIndex(l1_name)
t1 = self.model.dynComp.getWorldTransform(f1)
rot1 = t1.getRotation().toNumPy()
pos1 = t1.getPosition().toNumPy()
s1 = self.config['scaleCollisionHull']
else: # if world link
pos1 = self.link_cuboid_hulls[l1_name][1]
rot1 = eulerAnglesToRotationMatrix(self.link_cuboid_hulls[l1_name][2])
s1 = 1
# TODO: use pos and rot of boxes for vals from geometry tags
# self.link_cuboid_hulls[l0_name][1], [2]
b = np.array(self.link_cuboid_hulls[l0_name][0]) * s0
p = np.array(self.link_cuboid_hulls[l0_name][1])
b0_center = 0.5*np.array([(b[1][0])+(b[0][0]) + p[0],
(b[1][1])+(b[0][1]) + p[1],
(b[1][2])+(b[0][2]) + p[2]])
b0 = fcl.Box(b[1][0]-b[0][0], b[1][1]-b[0][1], b[1][2]-b[0][2])
b = np.array(self.link_cuboid_hulls[l1_name][0]) * s1
p = np.array(self.link_cuboid_hulls[l1_name][1])
b1_center = 0.5*np.array([(b[1][0])+(b[0][0]) + p[0],
(b[1][1])+(b[0][1]) + p[1],
(b[1][2])+(b[0][2]) + p[2]])
b1 = fcl.Box(b[1][0]-b[0][0], b[1][1]-b[0][1], b[1][2]-b[0][2])
# move box to pos + box center pos (model has pos in link origin, box has zero at center)
o0 = fcl.CollisionObject(b0, transform.Transform(rot0, pos0+b0_center))
o1 = fcl.CollisionObject(b1, transform.Transform(rot1, pos1+b1_center))
distance, d_result = fcl.distance(o0, o1, collision_data.DistanceRequest(True))
if distance < 0:
if self.config['verbose'] > 1:
print("Collision of {} and {}".format(l0_name, l1_name))
# get proper collision and depth since optimization should also know how much constraint is violated
cr = collision_data.CollisionRequest()
cr.enable_contact = True
cr.enable_cost = True
collision, c_result = fcl.collide(o0, o1, cr)
# sometimes no contact is found even though distance is less than 0?
if len(c_result.contacts):
distance = c_result.contacts[0].penetration_depth
return distance
ret, result = fcl.collide(fcl.CollisionObject(fcl.Box(1.0, 2.0, 3.0),
transform.Transform(transform.Quaternion(), [10.0, 0.0, 0.0])),
fcl.CollisionObject(fcl.Sphere(4.0),
transform.Transform(transform.Quaternion(), [-10.0, 0.0, 0.0])),
fcl.CollisionRequest())
print "-- Collision result: ", ret
for contact in result.contacts:
print contact.o1
print contact.o2
for cost_source in result.cost_sources:
print cost_source
dis, result = fcl.distance(fcl.CollisionObject(fcl.Box(1.0, 2.0, 3.0),
transform.Transform(transform.Quaternion(), [10.0, 0.0, 0.0])),
fcl.CollisionObject(fcl.Sphere(4.0),
transform.Transform(transform.Quaternion(), [-10.0, 0.0, 0.0])),
fcl.DistanceRequest(True))
print "-- Distance result: ", dis
print result.nearest_points
ret, result = fcl.collide(fcl.CollisionObject(fcl.Box(1.0, 2.0, 3.0),
transform.Transform(transform.Quaternion())),
fcl.CollisionObject(fcl.Sphere(4.0),
transform.Transform(transform.Quaternion(), [0.0, 0.0, 0.0])),
fcl.CollisionRequest())
print "-- Collision result: ", ret
for contact in result.contacts:
print contact.o1
print contact.o2
def contact(self,obj):
# 30 mm
tolerance=30
ret, result = fcl.distance(self.bvh, obj.bvh, cd.DistanceRequest(True))
return True if ret<tolerance else False
fcl.CollisionObject(
fcl.Sphere(4.0),
transform.Transform(transform.Quaternion(), [-10.0, 0.0, 0.0])),
fcl.CollisionRequest())
print "-- Collision result: ", ret
for contact in result.contacts:
print contact.o1
print contact.o2
for cost_source in result.cost_sources:
print cost_source
dis, result = fcl.distance(
fcl.CollisionObject(
fcl.Box(1.0, 2.0, 3.0),
transform.Transform(transform.Quaternion(), [10.0, 0.0, 0.0])),
fcl.CollisionObject(
fcl.Sphere(4.0),
transform.Transform(transform.Quaternion(), [-10.0, 0.0, 0.0])),
fcl.DistanceRequest(True))
print "-- Distance result: ", dis
print result.nearest_points
ret, result = fcl.collide(
fcl.CollisionObject(fcl.Box(1.0, 2.0, 3.0),
transform.Transform(transform.Quaternion())),
fcl.CollisionObject(
fcl.Sphere(4.0),
transform.Transform(transform.Quaternion(), [0.0, 0.0, 0.0])),
fcl.CollisionRequest())
print "-- Collision result: ", ret
