collision_world_hybrid.cpp

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/* Author: E. Gil Jones */

#include <moveit/collision_distance_field/collision_world_hybrid.h>

namespace collision_detection
{
CollisionWorldHybrid::CollisionWorldHybrid(Eigen::Vector3d size, Eigen::Vector3d origin, bool use_signed_distance_field,
                                           double resolution, double collision_tolerance,
                                           double max_propogation_distance)
  : CollisionWorldFCL()
  , cworld_distance_(new collision_detection::CollisionWorldDistanceField(
        getWorld(), size, origin, use_signed_distance_field, resolution, collision_tolerance, max_propogation_distance))

{
}

CollisionWorldHybrid::CollisionWorldHybrid(const WorldPtr& world, Eigen::Vector3d size, Eigen::Vector3d origin,
                                           bool use_signed_distance_field, double resolution,
                                           double collision_tolerance, double max_propogation_distance)
  : CollisionWorldFCL(world)
  , cworld_distance_(new collision_detection::CollisionWorldDistanceField(
        getWorld(), size, origin, use_signed_distance_field, resolution, collision_tolerance, max_propogation_distance))
{
}

CollisionWorldHybrid::CollisionWorldHybrid(const CollisionWorldHybrid& other, const WorldPtr& world)
  : CollisionWorldFCL(other, world)
  , cworld_distance_(
        new collision_detection::CollisionWorldDistanceField(*other.getCollisionWorldDistanceField(), world))
{
}

void CollisionWorldHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
                                                       const CollisionRobot& robot,
                                                       const robot_state::RobotState& state) const
{
  cworld_distance_->checkCollision(req, res, robot, state);
}

void CollisionWorldHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
                                                       const CollisionRobot& robot,
                                                       const robot_state::RobotState& state,
                                                       boost::shared_ptr<GroupStateRepresentation>& gsr) const
{
  cworld_distance_->checkCollision(req, res, robot, state, gsr);
}

void CollisionWorldHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
                                                       const CollisionRobot& robot,
                                                       const robot_state::RobotState& state,
                                                       const AllowedCollisionMatrix& acm) const
{
  cworld_distance_->checkCollision(req, res, robot, state, acm);
}

void CollisionWorldHybrid::checkCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
                                                       const CollisionRobot& robot,
                                                       const robot_state::RobotState& state,
                                                       const AllowedCollisionMatrix& acm,
                                                       boost::shared_ptr<GroupStateRepresentation>& gsr) const
{
  cworld_distance_->checkCollision(req, res, robot, state, acm, gsr);
}

void CollisionWorldHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
                                                            const CollisionRobot& robot,
                                                            const robot_state::RobotState& state) const
{
  cworld_distance_->checkRobotCollision(req, res, robot, state);
}

void CollisionWorldHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
                                                            const CollisionRobot& robot,
                                                            const robot_state::RobotState& state,
                                                            boost::shared_ptr<GroupStateRepresentation>& gsr) const
{
  cworld_distance_->checkRobotCollision(req, res, robot, state, gsr);
}

void CollisionWorldHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
                                                            const CollisionRobot& robot,
                                                            const robot_state::RobotState& state,
                                                            const AllowedCollisionMatrix& acm) const
{
  cworld_distance_->checkRobotCollision(req, res, robot, state, acm);
}

void CollisionWorldHybrid::checkRobotCollisionDistanceField(const CollisionRequest& req, CollisionResult& res,
                                                            const CollisionRobot& robot,
                                                            const robot_state::RobotState& state,
                                                            const AllowedCollisionMatrix& acm,
                                                            boost::shared_ptr<GroupStateRepresentation>& gsr) const
{
  cworld_distance_->checkRobotCollision(req, res, robot, state, acm, gsr);
}

void CollisionWorldHybrid::setWorld(const WorldPtr& world)
{
  if (world == getWorld())
    return;

  cworld_distance_->setWorld(world);
  CollisionWorldFCL::setWorld(world);
}

void CollisionWorldHybrid::getCollisionGradients(const CollisionRequest& req, CollisionResult& res,
                                                 const CollisionRobot& robot, const robot_state::RobotState& state,
                                                 const AllowedCollisionMatrix* acm,
                                                 boost::shared_ptr<GroupStateRepresentation>& gsr) const
{
  cworld_distance_->getCollisionGradients(req, res, robot, state, acm, gsr);
}

void CollisionWorldHybrid::getAllCollisions(const CollisionRequest& req, CollisionResult& res,
                                            const CollisionRobot& robot, const robot_state::RobotState& state,
                                            const AllowedCollisionMatrix* acm,
                                            boost::shared_ptr<GroupStateRepresentation>& gsr) const
{
  cworld_distance_->getAllCollisions(req, res, robot, state, acm, gsr);
}
}

#include <moveit/collision_distance_field/collision_detector_allocator_hybrid.h>
const std::string collision_detection::CollisionDetectorAllocatorHybrid::NAME_("HYBRID");