collision_robot.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_ROBOT_
#define MOVEIT_COLLISION_DETECTION_COLLISION_ROBOT_

#include <moveit/collision_detection/collision_matrix.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/LinkPadding.h>
#include <moveit_msgs/LinkScale.h>

namespace collision_detection
{

  class CollisionRobot
  {
  public:

    CollisionRobot(const robot_model::RobotModelConstPtr &kmodel, double padding = 0.0, double scale = 1.0);

    CollisionRobot(const CollisionRobot &other);

    virtual ~CollisionRobot()
    {
    }

    virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const = 0;

    virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const = 0;

    virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const = 0;

    virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const = 0;

    virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res,
                                     const robot_state::RobotState &state,
                                     const CollisionRobot &other_robot,
                                     const robot_state::RobotState &other_state) const = 0;

    virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res,
                                     const robot_state::RobotState &state,
                                     const CollisionRobot &other_robot,
                                     const robot_state::RobotState &other_state,
                                     const AllowedCollisionMatrix &acm) const = 0;

    virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res,
                                     const robot_state::RobotState &state1,
                                     const robot_state::RobotState &state2,
                                     const CollisionRobot &other_robot,
                                     const robot_state::RobotState &other_state1,
                                     const robot_state::RobotState &other_state2) const = 0;

    virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res,
                                     const robot_state::RobotState &state1,
                                     const robot_state::RobotState &state2,
                                     const CollisionRobot &other_robot,
                                     const robot_state::RobotState &other_state1,
                                     const robot_state::RobotState &other_state2,
                                     const AllowedCollisionMatrix &acm) const = 0;

    virtual double distanceSelf(const robot_state::RobotState &state) const = 0;

    virtual double distanceSelf(const robot_state::RobotState &state,
                                const AllowedCollisionMatrix &acm) const = 0;

    virtual double distanceOther(const robot_state::RobotState &state,
                                 const CollisionRobot &other_robot,
                                 const robot_state::RobotState &other_state) const = 0;

    virtual double distanceOther(const robot_state::RobotState &state,
                                 const CollisionRobot &other_robot,
                                 const robot_state::RobotState &other_state,
                                 const AllowedCollisionMatrix &acm) const = 0;

    const robot_model::RobotModelConstPtr& getRobotModel() const
    {
      return kmodel_;
    }

    void setLinkPadding(const std::string &link_name, double padding);

    double getLinkPadding(const std::string &link_name) const;

    void setLinkPadding(const std::map<std::string, double> &padding);

    const std::map<std::string, double> &getLinkPadding() const;

    void setLinkScale(const std::string &link_name, double scale);

    double getLinkScale(const std::string &link_name) const;

    void setLinkScale(const std::map<std::string, double> &scale);

    const std::map<std::string, double> &getLinkScale() const;

    void setPadding(double padding);

    void setScale(double scale);

    void setPadding(const std::vector<moveit_msgs::LinkPadding> &padding);

    void getPadding(std::vector<moveit_msgs::LinkPadding> &padding) const;

    void setScale(const std::vector<moveit_msgs::LinkScale> &scale);

    void getScale(std::vector<moveit_msgs::LinkScale> &scale) const;

  protected:

    virtual void updatedPaddingOrScaling(const std::vector<std::string> &links);

    robot_model::RobotModelConstPtr kmodel_;

    std::map<std::string, double>           link_padding_;

    std::map<std::string, double>           link_scale_;
  };

  typedef boost::shared_ptr<CollisionRobot> CollisionRobotPtr;
  typedef boost::shared_ptr<const CollisionRobot> CollisionRobotConstPtr;
}

#endif