collision_robot_allvalid.cpp

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/* Author: Ioan Sucan, Jia Pan */

#include <moveit/collision_detection/allvalid/collision_robot_allvalid.h>

collision_detection::CollisionRobotAllValid::CollisionRobotAllValid(const robot_model::RobotModelConstPtr &kmodel, double padding, double scale) : CollisionRobot(kmodel, padding, scale)
{
}

collision_detection::CollisionRobotAllValid::CollisionRobotAllValid(const CollisionRobot &other) : CollisionRobot(other)
{
}

void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const
{
  res.collision = false;
  if (req.verbose)
    logInform("Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
{
  res.collision = false;
  if (req.verbose)
    logInform("Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
{
  res.collision = false;
  if (req.verbose)
    logInform("Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
{
  res.collision = false;
  if (req.verbose)
    logInform("Using AllValid collision detection. No collision checking is performed.");}

void collision_detection::CollisionRobotAllValid::checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
                                                                      const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
{
  res.collision = false;
  if (req.verbose)
    logInform("Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::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
{
  res.collision = false;
  if (req.verbose)
    logInform("Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::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
{
  res.collision = false;
  if (req.verbose)
    logInform("Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::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
{
  res.collision = false;
  if (req.verbose)
    logInform("Using AllValid collision detection. No collision checking is performed.");
}

double collision_detection::CollisionRobotAllValid::distanceSelf(const robot_state::RobotState &state) const
{
  return 0.0;
}

double collision_detection::CollisionRobotAllValid::distanceSelf(const robot_state::RobotState &state,
                                                                 const AllowedCollisionMatrix &acm) const
{
  return 0.0;
}


double collision_detection::CollisionRobotAllValid::distanceOther(const robot_state::RobotState &state,
                                                                  const CollisionRobot &other_robot,
                                                                  const robot_state::RobotState &other_state) const
{
  return 0.0;
}

double collision_detection::CollisionRobotAllValid::distanceOther(const robot_state::RobotState &state,
                                                                  const CollisionRobot &other_robot,
                                                                  const robot_state::RobotState &other_state,
                                                                  const AllowedCollisionMatrix &acm) const
{
  return 0.0;
}