collision_models.h

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#ifndef PLANNING_ENVIRONMENT_MODELS_COLLISION_MODELS_
#define PLANNING_ENVIRONMENT_MODELS_COLLISION_MODELS_

#include "planning_environment/models/robot_models.h"
#include <collision_space/environment.h>
#include <motion_planning_msgs/OrderedCollisionOperations.h>

namespace planning_environment
{

    class CollisionModels : public RobotModels
    {
    public:
        
        CollisionModels(const std::string &description, double scale, double padd) : RobotModels(description), scale_(scale), padd_(padd)
        {
            loadCollision(group_link_union_);
        }

        CollisionModels(const std::string &description, const std::vector<std::string> &links, double scale, double padd) : RobotModels(description), scale_(scale), padd_(padd)
        {
            loadCollision(links);
        }
        
        CollisionModels(const std::string &description) : RobotModels(description)
        {
            loadParams();
            loadCollision(group_link_union_);
        }

        CollisionModels(const std::string &description, const std::vector<std::string> &links) : RobotModels(description)
        {
            loadParams();
            loadCollision(links);
        }
        
        virtual ~CollisionModels(void)
        {
        }

        virtual void reload(void)
        {
            RobotModels::reload();
            ode_collision_model_.reset();
            //bullet_collision_model_.reset();
            loadCollision(group_link_union_);
        }
        
        const boost::shared_ptr<collision_space::EnvironmentModel> &getODECollisionModel(void) const
        {
            return ode_collision_model_;
        }

        // const boost::shared_ptr<collision_space::EnvironmentModel> &getBulletCollisionModel(void) const
        // {
        //     return bullet_collision_model_;
        // }

        double getScale(void)
        {
            return scale_;
        }
        
        double getPadding(void)
        {
            return padd_;
        }

        void getDefaultOrderedCollisionOperations(std::vector<motion_planning_msgs::CollisionOperation> &self_collision)
        {
          self_collision = default_collision_operations_;
        }
        
    protected:
        
        void loadParams();
        void loadCollision(const std::vector<std::string> &links);
        void setupModel(boost::shared_ptr<collision_space::EnvironmentModel> &model, const std::vector<std::string> &links);
        
        boost::shared_ptr<collision_space::EnvironmentModel> ode_collision_model_;
      //boost::shared_ptr<collision_space::EnvironmentModel> bullet_collision_model_;

        double                                               scale_;
        double                                               padd_;
        std::vector<double>                                  boundingPlanes_;
      std::vector<motion_planning_msgs::CollisionOperation> default_collision_operations_;
    };
    
        
}

#endif

---

planning_environment
Author(s): Ioan Sucan
autogenerated on Fri Jan 11 10:03:02 2013