collision_world.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, Sachin Chitta */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_WORLD_
#define MOVEIT_COLLISION_DETECTION_COLLISION_WORLD_

#include <boost/utility.hpp>

#include <moveit/collision_detection/collision_matrix.h>
#include <moveit/collision_detection/collision_robot.h>
#include <moveit/collision_detection/world.h>
#include <moveit/macros/class_forward.h>

namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionWorld);

class CollisionWorld : private boost::noncopyable
{
public:
  CollisionWorld();

  explicit CollisionWorld(const WorldPtr& world);

  CollisionWorld(const CollisionWorld& other, const WorldPtr& world);

  virtual ~CollisionWorld()
  {
  }

  /**********************************************************************/
  /* Collision Checking Routines                                        */
  /**********************************************************************/

  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                              const robot_state::RobotState& state) const;

  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                              const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;

  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                              const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;

  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                              const robot_state::RobotState& state1, const robot_state::RobotState& state2,
                              const AllowedCollisionMatrix& acm) const;

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

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

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

  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 = 0;

  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
                                   const CollisionWorld& other_world) const = 0;

  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
                                   const AllowedCollisionMatrix& acm) const = 0;

  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state) const = 0;

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

  virtual double distanceWorld(const CollisionWorld& world) const = 0;

  virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm) const = 0;
  virtual void setWorld(const WorldPtr& world);

  const WorldPtr& getWorld()
  {
    return world_;
  }

  const WorldConstPtr& getWorld() const
  {
    return world_const_;
  }

  typedef World::ObjectPtr ObjectPtr;
  typedef World::ObjectConstPtr ObjectConstPtr;

private:
  WorldPtr world_;             // The world.  Always valid.  Never NULL.
  WorldConstPtr world_const_;  // always same as world_
};
}

#endif