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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, 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 the Willow Garage 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 00037 #ifndef COLLISION_SPACE_ENVIRONMENT_OBJECTS_ 00038 #define COLLISION_SPACE_ENVIRONMENT_OBJECTS_ 00039 00040 #include <vector> 00041 #include <string> 00042 #include <map> 00043 00044 #include <geometric_shapes/shapes.h> 00045 #include <LinearMath/btTransform.h> 00046 00047 namespace collision_space 00048 { 00049 00051 class EnvironmentObjects 00052 { 00053 public: 00054 EnvironmentObjects(void) 00055 { 00056 } 00057 00058 ~EnvironmentObjects(void) 00059 { 00060 clearObjects(); 00061 } 00062 00063 struct NamespaceObjects 00064 { 00066 std::vector< shapes::StaticShape* > static_shape; 00067 00069 std::vector< shapes::Shape* > shape; 00070 00072 std::vector< btTransform > shape_pose; 00073 }; 00074 00076 std::vector<std::string> getNamespaces(void) const; 00077 00079 const NamespaceObjects& getObjects(const std::string &ns) const; 00080 00082 NamespaceObjects& getObjects(const std::string &ns); 00083 00085 void addObject(const std::string &ns, shapes::StaticShape *shape); 00086 00088 void addObject(const std::string &ns, shapes::Shape *shape, const btTransform &pose); 00089 00091 bool removeObject(const std::string &ns, const shapes::Shape *shape); 00092 00094 bool removeObject(const std::string &ns, const shapes::StaticShape *shape); 00095 00097 void clearObjects(const std::string &ns); 00098 00100 void clearObjects(void); 00101 00103 void addObjectNamespace(const std::string ns); 00104 00106 EnvironmentObjects* clone(void) const; 00107 00108 private: 00109 00110 std::map<std::string, NamespaceObjects> objects_; 00111 NamespaceObjects empty_; 00112 }; 00113 00114 } 00115 00116 #endif 00117