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Forward port ABI compatibility workaround with OBBs to ros2 branch #252

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merged 1 commit into from
Nov 26, 2024
Merged

Forward port ABI compatibility workaround with OBBs to ros2 branch #252

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14 changes: 8 additions & 6 deletions include/geometric_shapes/bodies.h
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Original file line number Diff line number Diff line change
Expand Up @@ -242,8 +242,10 @@ class Body
virtual void computeBoundingBox(AABB& bbox) const = 0;

/** \brief Compute the oriented bounding box for the body, in its current
pose. Scaling and padding are accounted for. */
virtual void computeBoundingBox(OBB& bbox) const = 0;
* pose. Scaling and padding are accounted for.
* \note This function should be pure virtual, but it can't in order to maintain ABI compatibility.
**/
void computeBoundingBox(OBB& bbox) const;

/** \brief Get a clone of this body, but one that is located at the pose \e pose */
inline BodyPtr cloneAt(const Eigen::Isometry3d& pose) const
Expand Down Expand Up @@ -312,7 +314,7 @@ class Sphere : public Body
void computeBoundingSphere(BoundingSphere& sphere) const override;
void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
void computeBoundingBox(AABB& bbox) const override;
void computeBoundingBox(OBB& bbox) const override;
void computeBoundingBox(OBB& bbox) const;
bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;

Expand Down Expand Up @@ -365,7 +367,7 @@ class Cylinder : public Body
void computeBoundingSphere(BoundingSphere& sphere) const override;
void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
void computeBoundingBox(AABB& bbox) const override;
void computeBoundingBox(OBB& bbox) const override;
void computeBoundingBox(OBB& bbox) const;
bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;

Expand Down Expand Up @@ -428,7 +430,7 @@ class Box : public Body
void computeBoundingSphere(BoundingSphere& sphere) const override;
void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
void computeBoundingBox(AABB& bbox) const override;
void computeBoundingBox(OBB& bbox) const override;
void computeBoundingBox(OBB& bbox) const;
bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;

Expand Down Expand Up @@ -491,7 +493,7 @@ class ConvexMesh : public Body
void computeBoundingSphere(BoundingSphere& sphere) const override;
void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
void computeBoundingBox(AABB& bbox) const override;
void computeBoundingBox(OBB& bbox) const override;
void computeBoundingBox(OBB& bbox) const;
bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;

Expand Down
24 changes: 24 additions & 0 deletions src/bodies.cpp
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Expand Up @@ -136,6 +136,30 @@ bool bodies::Body::samplePointInside(random_numbers::RandomNumberGenerator& rng,
return false;
}

void bodies::Body::computeBoundingBox(bodies::OBB& bbox) const
{
// NOTE: this switch is needed only because computeBoundingBox(OBB) could not be defined virtual to keep ABI
// compatibility; if porting to new ROS (2) releases, this function should have no base implementation for a generic
// body and should be pure virtual
switch (this->getType())
{
case shapes::SPHERE:
static_cast<const bodies::Sphere*>(this)->computeBoundingBox(bbox);
break;
case shapes::CYLINDER:
static_cast<const bodies::Cylinder*>(this)->computeBoundingBox(bbox);
break;
case shapes::BOX:
static_cast<const bodies::Box*>(this)->computeBoundingBox(bbox);
break;
case shapes::MESH:
static_cast<const bodies::ConvexMesh*>(this)->computeBoundingBox(bbox);
break;
default:
throw std::runtime_error("Unknown body type: " + std::to_string(this->getType()));
}
}

bool bodies::Sphere::containsPoint(const Eigen::Vector3d& p, bool /* verbose */) const
{
return (center_ - p).squaredNorm() <= radius2_;
Expand Down
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