industrial_collision_detection: collision_world

Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef COLLISION_DETECTION_COLLISION_WORLD_INDUSTRIAL_H_
00038 #define COLLISION_DETECTION_COLLISION_WORLD_INDUSTRIAL_H_
00039 
00040 #include <industrial_collision_detection/collision_detection/collision_robot_industrial.h>
00041 #include <fcl/broadphase/broadphase.h>
00042 #include <boost/scoped_ptr.hpp>
00043 
00044 namespace collision_detection
00045 {
00046 
00047   class CollisionWorldIndustrial : public CollisionWorld
00048   {
00049   public:
00050 
00051     CollisionWorldIndustrial();
00052     explicit CollisionWorldIndustrial(const WorldPtr& world);
00053     CollisionWorldIndustrial(const CollisionWorldIndustrial &other, const WorldPtr& world);
00054     virtual ~CollisionWorldIndustrial();
00055 
00056 
00057     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const;
00058     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00059     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const;
00060     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;
00061     virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const;
00062     virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const;
00063 
00064     virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state) const;
00065     virtual void distanceRobot(const DistanceRequest &req, DistanceResult &res, const collision_detection::CollisionRobot &robot, const robot_state::RobotState &state) const;
00066     virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00067     virtual double distanceWorld(const CollisionWorld &world) const;
00068     virtual double distanceWorld(const CollisionWorld &world, const AllowedCollisionMatrix &acm) const;
00069 
00070     virtual void setWorld(const WorldPtr& world);
00071 
00072   protected:
00073 
00074     void checkWorldCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const;
00075     void checkRobotCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
00076     double distanceRobotHelper(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
00077     void distanceRobotHelper(const DistanceRequest &req, DistanceResult &res, const collision_detection::CollisionRobot &robot, const robot_state::RobotState &state) const;
00078     double distanceWorldHelper(const CollisionWorld &world, const AllowedCollisionMatrix *acm) const;
00079 
00080     void constructFCLObject(const World::Object *obj, FCLObject &fcl_obj) const;
00081     void updateFCLObject(const std::string &id);
00082 
00083 
00084     boost::scoped_ptr<fcl::BroadPhaseCollisionManager> manager_;
00085     std::map<std::string, FCLObject >                  fcl_objs_;
00086 
00087   private:
00088     void initialize();
00089     void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
00090     World::ObserverHandle observer_handle_;
00091   };
00092 
00093   typedef boost::shared_ptr<CollisionWorldIndustrial> CollisionWorldIndustrialPtr;
00094   typedef boost::shared_ptr<const CollisionWorldIndustrial> CollisionWorldIndustrialConstPtr;
00095 }
00096 
00097 #endif