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ObAvData.hpp

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//
//       Title           : ObAvData.h
//       Project         :
//       Created         : Tue Mar 18 15:10:24 1997
//       Author          : Troy Harden
//       Platforms       : All
//       Copyright       : Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//       Purpose         : Read in obstacle avoidance data
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//
//       $Log: ObAvData.hpp,v $
//       Revision 1.26  2005/06/07 23:08:00  aspencer
//       Added a virtual update function to ModelingObject. Made all inheriting, implemented Update functions virtual as well.
//
//       Revision 1.25  2005/06/03 18:16:06  aspencer
//       Removed the "Ob" designation from all primitive names (BoxOb is now Box, etc). Changed "CylOb" to "Cylisphere".
//
//       Revision 1.24  2005/06/01 22:27:30  chetan
//       Made changes to copyright headers
//
//       Revision 1.23  2005/05/26 21:01:55  aspencer
//       Changed "obstacle" to "primitive" in both the obstacle and the skeletalobstacle class. Inserted "modeling object" abstract class, which primitive (was obstacle) now inherits from. Updated the rest of OSCAR to reflect this.
//
//       Revision 1.22  2005/04/21 16:27:58  aspencer
//       Inserted a new "skeletalobstacle" abstract class which inherits from obstacle. Planes, spheres and cylispheres now all inherit from this new class.
//
//       Revision 1.21  2005/03/18 16:36:13  chetan
//       Removed pragma directive
//
//       Revision 1.20  2005/03/14 22:06:22  aspencer
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.19  2004/09/21 22:19:44  jknoll
//       Made changes to documentation
//
//       Revision 1.18  2004/08/12 15:53:08  eswint
//       - Added comments
//
//       Revision 1.17  2004/08/10 16:48:37  aspencer
//       Disabled warning 4786 to prevent the deluge of warnings when building the ob avoid library.
//
//       Revision 1.16  2004/07/23 22:55:51  eswint
//       - Compiled with /W4 warning level 4
//
//       Revision 1.15  2004/07/07 18:38:37  aspencer
//       Made changes in association with eliminating the individual obstacle types and moving all functionality to "obstacle"
//
//       Revision 1.14  2004/06/07 15:35:37  eswint
//       - Resolved class names with std:: in headers, using namespace std in source files
//
//       Revision 1.13  2004/06/04 21:12:20  eswint
//       - Replaced ostream with std::ostream
//
//       Revision 1.12  2004/06/04 16:23:28  eswint
//       - Removed CommDefs.h from ObAvData.hpp
//
//       Revision 1.11  2004/05/28 19:20:21  eswint
//       - Added the \ingroup Obstacle Avoidance for Doxygen commenting
//
//       Revision 1.10  2004/05/25 16:41:17  eswint
//       - Corrected commenting
//
//       Revision 1.9  2004/05/24 21:26:41  eswint
//       - Updated comments
//
//       Revision 1.8  2004/05/20 14:06:42  eswint
//       - Put all files in the OSCAR namespace
//
//       Revision 1.7  2004/05/11 18:56:39  eswint
//       - Using namespace ObstacleAvoidance
//       - Removed "RR" from class names
//
//       Revision 1.6  2004/05/05 22:02:53  eswint
//       - Added ToDo list
//
//       Revision 1.5  2004/04/29 20:01:37  eswint
//       - Finished new file format reader
//       - Added output capability
//       - Modified arguments involving pointers to arrays of RRFK objects
//
//       Revision 1.4  2004/04/28 21:10:32  eswint
//       - changed frames from int** to vector<vector<int> >
//       - added ostream capability
//
//       Revision 1.3  2004/04/27 21:10:22  eswint
//       - changed arrays of pointers to STL vectors
//
//       Revision 1.2  2004/04/13 21:29:52  eswint
//       - Added/Corrected commenting
//
//       Revision 1.1  2004/04/13 18:05:34  eswint
//       - Changed file extensions to comply with development guidelines
//
//       Revision 1.1  2003/08/18 18:37:22  eswint
//       Initial Commit
//
//

#ifndef ObAvData_h
#define ObAvData_h
#include "Sphere.hpp"
#include "Cylisphere.hpp"
#include "Plane.hpp"
#include "Box.hpp"
#include "Node.hpp"
#include "FileData/RobotData.h"
#include "ForwardKinematics/FKPosition.h"
#include "Math/MathUtilities.h"
#include <sstream>
#include <vector>

using std::vector;
using std::stringstream;

namespace OSCAR {
  class ObAvData : public RobotData {
  public:
    ObAvData(const String& filename, OSCARError& err, FKPosition** fkBegin = NULL,
      FKPosition** fkEnd = NULL, const String& name=String());


    ObAvData(OSCARError& err, const String& name=String());

    virtual ~ObAvData();

    bool UpdateArm(unsigned int index);

    bool UpdateArm(unsigned int index, const Vector& jointPos);

    bool UpdateAllArms();

    bool UpdateSphere(unsigned int index, Vector3& pt, double rd);

    bool UpdateCylinder(unsigned int index, Vector3& pt1, Vector3& pt2, double rd);

    bool UpdatePlane(unsigned int index, Vector3& bs, Vector3& pt1, Vector3& pt2, double th=0.0, bool bounded=false);

    bool UpdateBox(unsigned int index, Vector3& basePt, Vector3& pt0, Vector3& pt1, double h);
    
    bool UpdateObstacle (SkeletalPrimitive* obstacle, const vector<Vector3>& pts,
      double rd);

    const vector<vector<Cylisphere> >& GetArms() const;

    const vector<Cylisphere>& GetCy() const;

    const vector<Sphere>& GetSp() const;

    const vector<Plane>& GetPl() const;

    const vector<Box>& GetBox() const;

    const vector<int>& GetFrames(unsigned int armIndex) const;

    int GetArmNum() const;

    int GetCyNum() const;

    int GetSpNum() const;

    int GetPlNum() const;

    int GetBoxNum() const;

    int GetTot() const;

    bool LoadFile(const String& file, FKPosition** fkBegin = NULL, FKPosition** fkEnd = NULL);

    virtual void PrintOn(std::ostream& out) const;

    bool AddBox(Box& newbox);

private:

  bool loadRev1File(std::ifstream& input_file, FKPosition** fkBegin = NULL, FKPosition** fkEnd = NULL);
  bool loadRev2File(std::istringstream& fileStream, std::string& buffer, OSCARError& err);
  ObAvData(const ObAvData& dd);

  ObAvData& operator=(const ObAvData& dd);



  //Old version: stores geometric primitives according to type, stores manipulator arms separately,
  // only allows cylispheres to model manipulators, maintains a list of FK objects and frame indicies
  // to locate objects in the world reference frame.  Non-manipulator objects are static.
  vector<FKPosition*> fk;//Pointer to array of forward kinematics pointers.

  char mark;

  int totCyls;    //total # cylispheres in all the arms

  vector<vector<int> > frames; //frame-1 as determined from DH parameters for each endpt
  //of the cylispheres used to model each given arm.
  //i.e. if the point is based from frame 1 this var will
  //hold a 0.

  vector<vector<Vector3> > offsets; //offsets from the given frame measured in that frame

  vector<vector<Cylisphere> > arms; //Arm models for robots in the environment

  vector<Cylisphere> cy; //Models for cylispherical obstacles not assoc. with an arm
  vector<Sphere> sp; //Models for spherical obstacles in the workspace
  vector<Plane> pl; //Models for planar obstacles in the workspace
  vector<Box> box; //Models for box obstacles in the workspace

  //New version: all obstacles are stored in a tree, arms are accessed through the m.v. arms2
  // frames and pointers to fk objects are not stored, instead pointers to the transformation 
  // matricies are stored in each node of the tree, freeing ObAvData from dependence on FK objects.
  // and allowing other objects to be able to supply the transformation matricies, locating 
  // objects in the world reference frame
  
  vector<Node*> enviornment; //pointers to root nodes for the enviornment
  vector<Node*> arms2; //pointers to root nodes for the manipulators
};

#include "ObAvData.ipp"
std::ostream& operator<<(std::ostream &out, const ObAvData& arg);

} //namespace OSCAR

#endif // ObAvData_h

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