collision_robot_allvalid.h

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/* Author Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
#define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_

#include <moveit/collision_detection/collision_robot.h>

namespace collision_detection
{

class CollisionRobotAllValid : public CollisionRobot
{
public:

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

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

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

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

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

};

}

#endif