collision_matrix.h

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/* Author: Ioan Sucan, E. Gil Jones */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_MATRIX_
#define MOVEIT_COLLISION_DETECTION_COLLISION_MATRIX_

#include <moveit/collision_detection/collision_common.h>
#include <moveit_msgs/AllowedCollisionMatrix.h>
#include <boost/function.hpp>
#include <iostream>
#include <vector>
#include <string>
#include <map>

namespace collision_detection
{

  namespace AllowedCollision
  {
    enum Type
    {
      NEVER,

      ALWAYS,

      CONDITIONAL
    };
  }

  typedef boost::function<bool(collision_detection::Contact&)> DecideContactFn;

  class AllowedCollisionMatrix
  {
  public:

    AllowedCollisionMatrix();

    AllowedCollisionMatrix(const std::vector<std::string>& names, bool allowed = false);

    AllowedCollisionMatrix(const moveit_msgs::AllowedCollisionMatrix &msg);

    AllowedCollisionMatrix(const AllowedCollisionMatrix& acm);

    bool getEntry(const std::string& name1, const std::string& name2, AllowedCollision::Type& allowed_collision_type) const;

    bool getEntry(const std::string& name1, const std::string& name2, DecideContactFn& fn) const;

    bool hasEntry(const std::string& name) const;

    bool hasEntry(const std::string& name1, const std::string &name2) const;

    void removeEntry(const std::string& name1, const std::string &name2);

    void removeEntry(const std::string& name);

    void setEntry(const std::string& name1, const std::string& name2, bool allowed);

    void setEntry(const std::string& name1, const std::string& name2, const DecideContactFn &fn);

    void setEntry(const std::string& name, bool allowed);

    void setEntry(const std::string& name, const std::vector<std::string>& other_names, bool allowed);

    void setEntry(const std::vector<std::string> &names1, const std::vector<std::string> &names2, bool allowed);

    void setEntry(bool allowed);

    void getAllEntryNames(std::vector<std::string>& names) const;

    void getMessage(moveit_msgs::AllowedCollisionMatrix &msg) const;

    void clear();

    std::size_t getSize() const
    {
      return entries_.size();
    }

    void setDefaultEntry(const std::string &name, bool allowed);

    void setDefaultEntry(const std::string &name, const DecideContactFn &fn);

    bool getDefaultEntry(const std::string &name, AllowedCollision::Type& allowed_collision) const;

    bool getDefaultEntry(const std::string &name, DecideContactFn &fn) const;

    bool getAllowedCollision(const std::string& name1, const std::string& name2, DecideContactFn &fn) const;

    bool getAllowedCollision(const std::string& name1, const std::string& name2, AllowedCollision::Type& allowed_collision) const;

    void print(std::ostream& out) const;

  private:

    std::map<std::string, std::map<std::string, AllowedCollision::Type> > entries_;
    std::map<std::string, std::map<std::string, DecideContactFn> >        allowed_contacts_;

    std::map<std::string, AllowedCollision::Type>                         default_entries_;
    std::map<std::string, DecideContactFn>                                default_allowed_contacts_;

  };

  typedef boost::shared_ptr<AllowedCollisionMatrix> AllowedCollisionMatrixPtr;
  typedef boost::shared_ptr<const AllowedCollisionMatrix> AllowedCollisionMatrixConstPtr;
}

#endif