collision_robot.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_ROBOT_
#define MOVEIT_COLLISION_DETECTION_COLLISION_ROBOT_

#include <moveit/collision_detection/collision_matrix.h>
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/LinkPadding.h>
#include <moveit_msgs/LinkScale.h>

namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionRobot);

class CollisionRobot
{
public:
  CollisionRobot(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);

  CollisionRobot(const CollisionRobot& other);

  virtual ~CollisionRobot()
  {
  }

  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state) const = 0;

  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;

  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state1,
                                  const robot_state::RobotState& state2) const = 0;

  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
                                  const AllowedCollisionMatrix& acm) const = 0;

  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
                                   const robot_state::RobotState& state, const CollisionRobot& other_robot,
                                   const robot_state::RobotState& other_state) const = 0;

  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
                                   const robot_state::RobotState& state, const CollisionRobot& other_robot,
                                   const robot_state::RobotState& other_state,
                                   const AllowedCollisionMatrix& acm) const = 0;

  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
                                   const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
                                   const robot_state::RobotState& other_state2) const = 0;

  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
                                   const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
                                   const robot_state::RobotState& other_state2,
                                   const AllowedCollisionMatrix& acm) const = 0;

  virtual double distanceSelf(const robot_state::RobotState& state) const = 0;

  virtual double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;

  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
                               const robot_state::RobotState& other_state) const = 0;

  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
                               const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const = 0;

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }

  void setLinkPadding(const std::string& link_name, double padding);

  double getLinkPadding(const std::string& link_name) const;

  void setLinkPadding(const std::map<std::string, double>& padding);

  const std::map<std::string, double>& getLinkPadding() const;

  void setLinkScale(const std::string& link_name, double scale);

  double getLinkScale(const std::string& link_name) const;

  void setLinkScale(const std::map<std::string, double>& scale);

  const std::map<std::string, double>& getLinkScale() const;

  void setPadding(double padding);

  void setScale(double scale);

  void setPadding(const std::vector<moveit_msgs::LinkPadding>& padding);

  void getPadding(std::vector<moveit_msgs::LinkPadding>& padding) const;

  void setScale(const std::vector<moveit_msgs::LinkScale>& scale);

  void getScale(std::vector<moveit_msgs::LinkScale>& scale) const;

protected:
  virtual void updatedPaddingOrScaling(const std::vector<std::string>& links);

  robot_model::RobotModelConstPtr robot_model_;

  std::map<std::string, double> link_padding_;

  std::map<std::string, double> link_scale_;
};
}

#endif