moveit_core: collision_robot

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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_ROBOT_
00038 #define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_ROBOT_
00039 
00040 #include <moveit/collision_detection_fcl/collision_common.h>
00041 
00042 namespace collision_detection
00043 {
00044 class CollisionRobotFCL : public CollisionRobot
00045 {
00046   friend class CollisionWorldFCL;
00047 
00048 public:
00049   CollisionRobotFCL(const robot_model::RobotModelConstPtr& kmodel, double padding = 0.0, double scale = 1.0);
00050 
00051   CollisionRobotFCL(const CollisionRobotFCL& other);
00052 
00053   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
00054                                   const robot_state::RobotState& state) const;
00055   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
00056                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
00057   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
00058                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
00059   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
00060                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00061                                   const AllowedCollisionMatrix& acm) const;
00062 
00063   virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
00064                                    const robot_state::RobotState& state, const CollisionRobot& other_robot,
00065                                    const robot_state::RobotState& other_state) const;
00066   virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
00067                                    const robot_state::RobotState& state, const CollisionRobot& other_robot,
00068                                    const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
00069   virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
00070                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00071                                    const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
00072                                    const robot_state::RobotState& other_state2) const;
00073   virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
00074                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00075                                    const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
00076                                    const robot_state::RobotState& other_state2,
00077                                    const AllowedCollisionMatrix& acm) const;
00078 
00079   virtual double distanceSelf(const robot_state::RobotState& state) const;
00080   virtual double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
00081   virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
00082                                const robot_state::RobotState& other_state) const;
00083   virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
00084                                const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
00085 
00086 protected:
00087   virtual void updatedPaddingOrScaling(const std::vector<std::string>& links);
00088   void constructFCLObject(const robot_state::RobotState& state, FCLObject& fcl_obj) const;
00089   void allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const;
00090   void getAttachedBodyObjects(const robot_state::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;
00091 
00092   void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
00093                                 const AllowedCollisionMatrix* acm) const;
00094   void checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
00095                                  const robot_state::RobotState& state, const CollisionRobot& other_robot,
00096                                  const robot_state::RobotState& other_state, const AllowedCollisionMatrix* acm) const;
00097   double distanceSelfHelper(const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
00098   double distanceOtherHelper(const robot_state::RobotState& state, const CollisionRobot& other_robot,
00099                              const robot_state::RobotState& other_state, const AllowedCollisionMatrix* acm) const;
00100 
00101   std::vector<FCLGeometryConstPtr> geoms_;
00102   std::vector<FCLCollisionObjectConstPtr> fcl_objs_;
00103 };
00104 }
00105 
00106 #endif