collision_world_fcl.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_

#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
#include <fcl/broadphase/broadphase.h>
#include <boost/scoped_ptr.hpp>

namespace collision_detection
{
class CollisionWorldFCL : public CollisionWorld
{
public:
  CollisionWorldFCL();
  explicit CollisionWorldFCL(const WorldPtr& world);
  CollisionWorldFCL(const CollisionWorldFCL& other, const WorldPtr& world);
  virtual ~CollisionWorldFCL();

  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                                   const robot_state::RobotState& state) const;
  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
  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;
  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
                                   const CollisionWorld& other_world) const;
  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
                                   const AllowedCollisionMatrix& acm) const;

  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state) const;
  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
                               const AllowedCollisionMatrix& acm) const;
  virtual double distanceWorld(const CollisionWorld& world) const;
  virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm) const;

  virtual void setWorld(const WorldPtr& world);

protected:
  void checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
                                 const AllowedCollisionMatrix* acm) const;
  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
  double distanceRobotHelper(const CollisionRobot& robot, const robot_state::RobotState& state,
                             const AllowedCollisionMatrix* acm) const;
  double distanceWorldHelper(const CollisionWorld& world, const AllowedCollisionMatrix* acm) const;

  void constructFCLObject(const World::Object* obj, FCLObject& fcl_obj) const;
  void updateFCLObject(const std::string& id);

  boost::scoped_ptr<fcl::BroadPhaseCollisionManager> manager_;
  std::map<std::string, FCLObject> fcl_objs_;

private:
  void initialize();
  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
  World::ObserverHandle observer_handle_;
};
}

#endif