collision_world.cpp

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/* Author: Ioan Sucan */

#include <moveit/collision_detection/collision_world.h>
#include <geometric_shapes/shape_operations.h>

collision_detection::CollisionWorld::CollisionWorld() : world_(new World()), world_const_(world_)
{
}

collision_detection::CollisionWorld::CollisionWorld(const WorldPtr& world) : world_(world), world_const_(world)
{
}

collision_detection::CollisionWorld::CollisionWorld(const CollisionWorld& other, const WorldPtr& world)
  : world_(world), world_const_(world)
{
}

void collision_detection::CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res,
                                                         const CollisionRobot& robot,
                                                         const robot_state::RobotState& state) const
{
  robot.checkSelfCollision(req, res, state);
  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
    checkRobotCollision(req, res, robot, state);
}

void collision_detection::CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res,
                                                         const CollisionRobot& robot,
                                                         const robot_state::RobotState& state,
                                                         const AllowedCollisionMatrix& acm) const
{
  robot.checkSelfCollision(req, res, state, acm);
  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
    checkRobotCollision(req, res, robot, state, acm);
}

void collision_detection::CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res,
                                                         const CollisionRobot& robot,
                                                         const robot_state::RobotState& state1,
                                                         const robot_state::RobotState& state2) const
{
  robot.checkSelfCollision(req, res, state1, state2);
  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
    checkRobotCollision(req, res, robot, state1, state2);
}

void collision_detection::CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res,
                                                         const CollisionRobot& robot,
                                                         const robot_state::RobotState& state1,
                                                         const robot_state::RobotState& state2,
                                                         const AllowedCollisionMatrix& acm) const
{
  robot.checkSelfCollision(req, res, state1, state2, acm);
  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
    checkRobotCollision(req, res, robot, state1, state2, acm);
}

void collision_detection::CollisionWorld::setWorld(const WorldPtr& world)
{
  world_ = world;
  if (!world_)
    world_.reset(new World());

  world_const_ = world;
}