00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00038 #include "fcl/ccd/motion.h" 00039 00040 namespace fcl 00041 { 00042 00043 template<> 00044 FCL_REAL InterpMotion<RSS>::computeMotionBound(const RSS& bv, const Vec3f& n) const 00045 { 00046 FCL_REAL c_proj_max = ((tf.getQuatRotation().transform(bv.Tr - reference_p)).cross(angular_axis)).sqrLength(); 00047 FCL_REAL tmp; 00048 tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0] - reference_p)).cross(angular_axis)).sqrLength(); 00049 if(tmp > c_proj_max) c_proj_max = tmp; 00050 tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[1] * bv.l[1] - reference_p)).cross(angular_axis)).sqrLength(); 00051 if(tmp > c_proj_max) c_proj_max = tmp; 00052 tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0] + bv.axis[1] * bv.l[1] - reference_p)).cross(angular_axis)).sqrLength(); 00053 if(tmp > c_proj_max) c_proj_max = tmp; 00054 00055 c_proj_max = sqrt(c_proj_max); 00056 00057 FCL_REAL v_dot_n = linear_vel.dot(n); 00058 FCL_REAL w_cross_n = (angular_axis.cross(n)).length() * angular_vel; 00059 FCL_REAL mu = v_dot_n + w_cross_n * (bv.r + c_proj_max); 00060 00061 return mu; 00062 } 00063 00064 template<> 00065 FCL_REAL ScrewMotion<RSS>::computeMotionBound(const RSS& bv, const Vec3f& n) const 00066 { 00067 FCL_REAL c_proj_max = ((tf.getQuatRotation().transform(bv.Tr)).cross(axis)).sqrLength(); 00068 FCL_REAL tmp; 00069 tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0])).cross(axis)).sqrLength(); 00070 if(tmp > c_proj_max) c_proj_max = tmp; 00071 tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[1] * bv.l[1])).cross(axis)).sqrLength(); 00072 if(tmp > c_proj_max) c_proj_max = tmp; 00073 tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0] + bv.axis[1] * bv.l[1])).cross(axis)).sqrLength(); 00074 if(tmp > c_proj_max) c_proj_max = tmp; 00075 00076 c_proj_max = sqrt(c_proj_max); 00077 00078 FCL_REAL v_dot_n = axis.dot(n) * linear_vel; 00079 FCL_REAL w_cross_n = (axis.cross(n)).length() * angular_vel; 00080 FCL_REAL origin_proj = ((tf.getTranslation() - p).cross(axis)).length(); 00081 00082 FCL_REAL mu = v_dot_n + w_cross_n * (c_proj_max + bv.r + origin_proj); 00083 00084 return mu; 00085 } 00086 00087 template<> 00088 FCL_REAL SplineMotion<RSS>::computeMotionBound(const RSS& bv, const Vec3f& n) const 00089 { 00090 FCL_REAL T_bound = computeTBound(n); 00091 00092 Vec3f c1 = bv.Tr; 00093 Vec3f c2 = bv.Tr + bv.axis[0] * bv.l[0]; 00094 Vec3f c3 = bv.Tr + bv.axis[1] * bv.l[1]; 00095 Vec3f c4 = bv.Tr + bv.axis[0] * bv.l[0] + bv.axis[1] * bv.l[1]; 00096 00097 FCL_REAL tmp; 00098 // max_i |c_i * n| 00099 FCL_REAL cn_max = fabs(c1.dot(n)); 00100 tmp = fabs(c2.dot(n)); 00101 if(tmp > cn_max) cn_max = tmp; 00102 tmp = fabs(c3.dot(n)); 00103 if(tmp > cn_max) cn_max = tmp; 00104 tmp = fabs(c4.dot(n)); 00105 if(tmp > cn_max) cn_max = tmp; 00106 00107 // max_i ||c_i|| 00108 FCL_REAL cmax = c1.sqrLength(); 00109 tmp = c2.sqrLength(); 00110 if(tmp > cmax) cmax = tmp; 00111 tmp = c3.sqrLength(); 00112 if(tmp > cmax) cmax = tmp; 00113 tmp = c4.sqrLength(); 00114 if(tmp > cmax) cmax = tmp; 00115 cmax = sqrt(cmax); 00116 00117 // max_i ||c_i x n|| 00118 FCL_REAL cxn_max = (c1.cross(n)).sqrLength(); 00119 tmp = (c2.cross(n)).sqrLength(); 00120 if(tmp > cxn_max) cxn_max = tmp; 00121 tmp = (c3.cross(n)).sqrLength(); 00122 if(tmp > cxn_max) cxn_max = tmp; 00123 tmp = (c4.cross(n)).sqrLength(); 00124 if(tmp > cxn_max) cxn_max = tmp; 00125 cxn_max = sqrt(cxn_max); 00126 00127 FCL_REAL dWdW_max = computeDWMax(); 00128 FCL_REAL ratio = std::min(1 - tf_t, dWdW_max); 00129 00130 FCL_REAL R_bound = 2 * (cn_max + cmax + cxn_max + 3 * bv.r) * ratio; 00131 00132 00133 // std::cout << R_bound << " " << T_bound << std::endl; 00134 00135 return R_bound + T_bound; 00136 } 00137 00138 }