collision_matrix.h

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/* Author: Ioan Sucan, E. Gil Jones */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_MATRIX_
#define MOVEIT_COLLISION_DETECTION_COLLISION_MATRIX_

#include <moveit/collision_detection/collision_common.h>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/AllowedCollisionMatrix.h>
#include <boost/function.hpp>
#include <iostream>
#include <vector>
#include <string>
#include <map>

namespace collision_detection
{
namespace AllowedCollision
{
enum Type
{
  NEVER,

  ALWAYS,

  CONDITIONAL
};
}

typedef boost::function<bool(collision_detection::Contact&)> DecideContactFn;

MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix);

class AllowedCollisionMatrix
{
public:
  AllowedCollisionMatrix();

  AllowedCollisionMatrix(const std::vector<std::string>& names, bool allowed = false);

  AllowedCollisionMatrix(const moveit_msgs::AllowedCollisionMatrix& msg);

  AllowedCollisionMatrix(const AllowedCollisionMatrix& acm);

  bool getEntry(const std::string& name1, const std::string& name2,
                AllowedCollision::Type& allowed_collision_type) const;

  bool getEntry(const std::string& name1, const std::string& name2, DecideContactFn& fn) const;

  bool hasEntry(const std::string& name) const;

  bool hasEntry(const std::string& name1, const std::string& name2) const;

  void removeEntry(const std::string& name1, const std::string& name2);

  void removeEntry(const std::string& name);

  void setEntry(const std::string& name1, const std::string& name2, bool allowed);

  void setEntry(const std::string& name1, const std::string& name2, const DecideContactFn& fn);

  void setEntry(const std::string& name, bool allowed);

  void setEntry(const std::string& name, const std::vector<std::string>& other_names, bool allowed);

  void setEntry(const std::vector<std::string>& names1, const std::vector<std::string>& names2, bool allowed);

  void setEntry(bool allowed);

  void getAllEntryNames(std::vector<std::string>& names) const;

  void getMessage(moveit_msgs::AllowedCollisionMatrix& msg) const;

  void clear();

  std::size_t getSize() const
  {
    return entries_.size();
  }

  void setDefaultEntry(const std::string& name, bool allowed);

  void setDefaultEntry(const std::string& name, const DecideContactFn& fn);

  bool getDefaultEntry(const std::string& name, AllowedCollision::Type& allowed_collision) const;

  bool getDefaultEntry(const std::string& name, DecideContactFn& fn) const;

  bool getAllowedCollision(const std::string& name1, const std::string& name2, DecideContactFn& fn) const;

  bool getAllowedCollision(const std::string& name1, const std::string& name2,
                           AllowedCollision::Type& allowed_collision) const;

  void print(std::ostream& out) const;

private:
  std::map<std::string, std::map<std::string, AllowedCollision::Type> > entries_;
  std::map<std::string, std::map<std::string, DecideContactFn> > allowed_contacts_;

  std::map<std::string, AllowedCollision::Type> default_entries_;
  std::map<std::string, DecideContactFn> default_allowed_contacts_;
};
}

#endif