Merge pull request #1195 from robotology/simplify-shapes-collision-vi…

…sual idyntree-model-simplify-shapes: Add the possibility to simplify only collisions or visuals
robotology · Sep 17, 2024 · bbd8b08 · bbd8b08
2 parents 147fb75 + 2429fd4
commit bbd8b08
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Showing 4 changed files with 53 additions and 9 deletions.
diff --git a/src/solid-shapes/include/iDynTree/ModelTransformersSolidShapes.h b/src/solid-shapes/include/iDynTree/ModelTransformersSolidShapes.h
@@ -18,13 +18,24 @@ namespace iDynTree
 class Model;
 class SensorsList;
 
-enum ApproximateSolidShapesWithPrimitiveShapeConversionType {
+enum class ApproximateSolidShapesWithPrimitiveShapeConversionType {
     ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes
 };
 
+/**
+ * Enum class representing which shape should be approximated.
+ * Namely teh visual, collision or both shapes.
+ */
+enum class ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate {
+    VisualShapes,
+    CollisionShapes,
+    BothShapes
+};
+
 struct ApproximateSolidShapesWithPrimitiveShapeOptions 
 {
-    ApproximateSolidShapesWithPrimitiveShapeConversionType conversionType = ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes;
+    ApproximateSolidShapesWithPrimitiveShapeConversionType conversionType = ApproximateSolidShapesWithPrimitiveShapeConversionType::ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes;
+    ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate shapesToApproximate = ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::BothShapes;
 };
 
 /**

diff --git a/src/solid-shapes/src/ModelTransformersSolidShapes.cpp b/src/solid-shapes/src/ModelTransformersSolidShapes.cpp
@@ -39,7 +39,7 @@ bool approximateSolidShapesWithBoundingBoxes(const iDynTree::ModelSolidShapes& i
 
 bool approximateSolidShapesWithPrimitiveShape(const Model& inputModel,
                                               Model& outputModel,
-                                              ApproximateSolidShapesWithPrimitiveShapeOptions /*options*/)
+                                              ApproximateSolidShapesWithPrimitiveShapeOptions options)
 {
     bool retValue = true;
 
@@ -50,10 +50,17 @@ bool approximateSolidShapesWithPrimitiveShape(const Model& inputModel,
     // that approximates the solid shapes via the iDynTree::computeBoundingBoxFromShape function
 
     // Approximate visual shapes
-    retValue = retValue && approximateSolidShapesWithBoundingBoxes(inputModel.visualSolidShapes(), outputModel.visualSolidShapes());
+    if (options.shapesToApproximate == ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::VisualShapes ||
+       options.shapesToApproximate == ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::BothShapes)
+    {
+        retValue = retValue && approximateSolidShapesWithBoundingBoxes(inputModel.visualSolidShapes(), outputModel.visualSolidShapes());
+    }
 
-    // Approximate collision shapes
-    retValue = retValue && approximateSolidShapesWithBoundingBoxes(inputModel.collisionSolidShapes(), outputModel.collisionSolidShapes());
+    if (options.shapesToApproximate == ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::CollisionShapes ||
+        options.shapesToApproximate == ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::BothShapes)
+    {
+        retValue = retValue && approximateSolidShapesWithBoundingBoxes(inputModel.collisionSolidShapes(), outputModel.collisionSolidShapes());
+    }
 
     return retValue;
 }

diff --git a/src/solid-shapes/tests/ModelTransformersSolidShapesIntegrationTest.cpp b/src/solid-shapes/tests/ModelTransformersSolidShapesIntegrationTest.cpp
@@ -32,7 +32,7 @@ void checkThatOneSphereIsApproximatedToABox()
     // Compute the simplified model
     iDynTree::Model oneBoxModel;
     ApproximateSolidShapesWithPrimitiveShapeOptions options = ApproximateSolidShapesWithPrimitiveShapeOptions();
-    options.conversionType = ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes;
+    options.conversionType = ApproximateSolidShapesWithPrimitiveShapeConversionType::ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes;
     bool ok = approximateSolidShapesWithPrimitiveShape(oneSphereModel, oneBoxModel);
     ASSERT_IS_TRUE(ok);
 

diff --git a/src/tools/idyntree-model-simplify-shapes.cpp b/src/tools/idyntree-model-simplify-shapes.cpp
@@ -29,6 +29,11 @@ void addOptions(cmdline::parser &cmd)
     cmd.add<std::string>("output-model", 'o',
                          "Output simplified model.",
                          true);
+
+    // Specify which shapes need to be approximated
+    cmd.add<std::string>("shapes-approximation", 's',
+                         "Specify which shapes need to be approximated. Supported values are: visual, collision, both.",
+                         false, "both");
 }
 
 int main(int argc, char** argv)
@@ -40,6 +45,14 @@ int main(int argc, char** argv)
     // Read model
     const std::string& modelPath = cmd.get<std::string>("model");
     const std::string& outputModelPath = cmd.get<std::string>("output-model");
+    const std::string& shapesApproximation = cmd.get<std::string>("shapes-approximation");
+
+    // check if the shapes approximation is valid
+    if (shapesApproximation != "visual" && shapesApproximation != "collision" && shapesApproximation != "both")
+    {
+        std::cerr << "Invalid shapes approximation value: " << shapesApproximation << " . Supported values are: visual, collision, both." << std::endl;
+        return EXIT_FAILURE;
+    }
 
     iDynTree::ModelLoader mdlLoader;
     bool ok = mdlLoader.loadModelFromFile(modelPath);
@@ -53,9 +66,22 @@ int main(int argc, char** argv)
     // Simplify the model
     iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions options = 
         iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions();
-    options.conversionType = iDynTree::ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes;
+    options.conversionType = iDynTree::ApproximateSolidShapesWithPrimitiveShapeConversionType::ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes;
+    if (shapesApproximation == "visual")
+    {
+        options.shapesToApproximate = iDynTree::ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::VisualShapes;
+    }
+    else if (shapesApproximation == "collision")
+    {
+        options.shapesToApproximate = iDynTree::ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::CollisionShapes;
+    }
+    else if (shapesApproximation == "both")
+    {
+        options.shapesToApproximate = iDynTree::ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::BothShapes;
+    }
+
     iDynTree::Model simplifiedModel;
-    ok = approximateSolidShapesWithPrimitiveShape(mdlLoader.model(), simplifiedModel);
+    ok = approximateSolidShapesWithPrimitiveShape(mdlLoader.model(), simplifiedModel, options);
 
     if (!ok)
     {