collision_robot_allvalid.h
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00034 
00035 /* Author Ioan Sucan */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
00038 #define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
00039 
00040 #include <moveit/collision_detection/collision_robot.h>
00041 
00042 namespace collision_detection
00043 {
00044 
00045 class CollisionRobotAllValid : public CollisionRobot
00046 {
00047 public:
00048 
00049   CollisionRobotAllValid(const robot_model::RobotModelConstPtr &kmodel, double padding = 0.0, double scale = 1.0);
00050   CollisionRobotAllValid(const CollisionRobot &other);
00051 
00052   virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const;
00053   virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00054   virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const;
00055   virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const;
00056 
00057   virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
00058                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const;
00059   virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
00060                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state,
00061                                    const AllowedCollisionMatrix &acm) const;
00062   virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2,
00063                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2) const;
00064   virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2,
00065                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2,
00066                                    const AllowedCollisionMatrix &acm) const;
00067 
00068   virtual double distanceSelf(const robot_state::RobotState &state) const;
00069   virtual double distanceSelf(const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00070 
00071   virtual double distanceOther(const robot_state::RobotState &state,
00072                                const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const;
00073   virtual double distanceOther(const robot_state::RobotState &state, const CollisionRobot &other_robot,
00074                                const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const;
00075 
00076 };
00077 
00078 }
00079 
00080 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:46