collision_world_hybrid.h

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/* Author: E. Gil Jones */

#ifndef MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_WORLD_HYBRID_H_
#define MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_WORLD_HYBRID_H_

#include <moveit/collision_detection_fcl/collision_world_fcl.h>
#include <moveit/collision_distance_field/collision_distance_field_types.h>
#include <moveit/collision_distance_field/collision_world_distance_field.h>

namespace collision_detection
{
class CollisionRobotHybrid;

class CollisionWorldHybrid : public CollisionWorldFCL
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CollisionWorldHybrid(Eigen::Vector3d size = Eigen::Vector3d(3, 3, 4),
                       Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field = false,
                       double resolution = .02, double collision_tolerance = 0.0,
                       double max_propogation_distance = .25);

  explicit CollisionWorldHybrid(const WorldPtr& world, Eigen::Vector3d size = Eigen::Vector3d(3, 3, 4),
                                Eigen::Vector3d origin = Eigen::Vector3d(0, 0, 0),
                                bool use_signed_distance_field = false, double resolution = .02,
                                double collision_tolerance = 0.0, double max_propogation_distance = .25);

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

  virtual ~CollisionWorldHybrid()
  {
  }

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

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

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

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

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

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

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

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

  virtual void setWorld(const WorldPtr& world);

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

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

  const boost::shared_ptr<const collision_detection::CollisionWorldDistanceField> getCollisionWorldDistanceField() const
  {
    return cworld_distance_;
  }

protected:
  boost::shared_ptr<collision_detection::CollisionWorldDistanceField> cworld_distance_;
};
}

#endif