collision_world.h

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/* Author: Ioan Sucan, Sachin Chitta */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_WORLD_
#define MOVEIT_COLLISION_DETECTION_COLLISION_WORLD_

#include <boost/utility.hpp>

#include <moveit/collision_detection/collision_matrix.h>
#include <moveit/collision_detection/collision_robot.h>
#include <moveit/collision_detection/world.h>

namespace collision_detection
{

  class CollisionWorld : private boost::noncopyable
  {
  public:

    CollisionWorld();

    explicit CollisionWorld(const WorldPtr& world);

    CollisionWorld(const CollisionWorld &other, const WorldPtr& world);

    virtual ~CollisionWorld()
    {
    }

    /**********************************************************************/
    /* Collision Checking Routines                                        */
    /**********************************************************************/

    virtual void checkCollision(const CollisionRequest &req,
                                CollisionResult &res,
                                const CollisionRobot &robot,
                                const robot_state::RobotState &state) const;

    virtual void checkCollision(const CollisionRequest &req,
                                CollisionResult &res,
                                const CollisionRobot &robot,
                                const robot_state::RobotState &state,
                                const AllowedCollisionMatrix &acm) const;

    virtual void checkCollision(const CollisionRequest &req,
                                CollisionResult &res,
                                const CollisionRobot &robot,
                                const robot_state::RobotState &state1,
                                const robot_state::RobotState &state2) const;

    virtual void checkCollision(const CollisionRequest &req,
                                CollisionResult &res,
                                const CollisionRobot &robot,
                                const robot_state::RobotState &state1,
                                const robot_state::RobotState &state2,
                                const AllowedCollisionMatrix &acm) const;

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

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

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

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

    virtual void checkWorldCollision(const CollisionRequest &req,
                                     CollisionResult &res,
                                     const CollisionWorld &other_world) const = 0;

    virtual void checkWorldCollision(const CollisionRequest &req,
                                     CollisionResult &res,
                                     const CollisionWorld &other_world,
                                     const AllowedCollisionMatrix &acm) const = 0;

    virtual double distanceRobot(const CollisionRobot &robot,
                                 const robot_state::RobotState &state) const = 0;

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

    virtual double distanceWorld(const CollisionWorld &world) const = 0;

    virtual double distanceWorld(const CollisionWorld &world,
                                 const AllowedCollisionMatrix &acm) const = 0;
    virtual void setWorld(const WorldPtr& world);

    const WorldPtr& getWorld()
    {
      return world_;
    }

    const WorldConstPtr& getWorld() const
    {
      return world_const_;
    }

    typedef World::ObjectPtr ObjectPtr;
    typedef World::ObjectConstPtr ObjectConstPtr;

  private:
    WorldPtr      world_;       // The world.  Always valid.  Never NULL.
    WorldConstPtr world_const_; // always same as world_
  };

  typedef boost::shared_ptr<CollisionWorld> CollisionWorldPtr;
  typedef boost::shared_ptr<const CollisionWorld> CollisionWorldConstPtr;
}

#endif