collision_detector_allocator.h

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/* Author: Acorn Pooley, Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_
#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_

#include <moveit/collision_detection/collision_robot.h>
#include <moveit/collision_detection/collision_world.h>

namespace collision_detection
{

  class CollisionDetectorAllocator
  {
  public:
    virtual const std::string& getName() const = 0;

    virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const = 0;

    virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const = 0;

    virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const = 0;

    virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const = 0;
  };

  typedef boost::shared_ptr<CollisionDetectorAllocator> CollisionDetectorAllocatorPtr;



  template<class CollisionWorldType, class CollisionRobotType, class CollisionDetectorAllocatorType>
  class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
  {
  public:
    virtual const std::string& getName() const
    {
      return CollisionDetectorAllocatorType::NAME_;
    }

    virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const
    {
      return CollisionWorldPtr(new CollisionWorldType(world));
    }

    virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const
    {
      return CollisionWorldPtr(new CollisionWorldType(dynamic_cast<const CollisionWorldType&>(*orig), world));
    }

    virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const
    {
      return CollisionRobotPtr(new CollisionRobotType(robot_model));
    }

    virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const
    {
      return CollisionRobotPtr(new CollisionRobotType(dynamic_cast<const CollisionRobotType&>(*orig)));
    }

    static CollisionDetectorAllocatorPtr create()
    {
      return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType());
    }
  };

}

#endif