collision_check_plugin.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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// modification, are permitted provided that the following conditions are met:
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//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_COLLISION_CHECK_PLUGIN_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_COLLISION_CHECK_PLUGIN_H__

#include <ros/ros.h>

#include <boost/thread/mutex.hpp>

#include <vigir_pluginlib/plugin.h>

#include <vigir_footstep_planning_lib/modeling/state.h>



namespace vigir_footstep_planning
{
class CollisionCheckPlugin
  : public vigir_pluginlib::Plugin
{
public:
  enum
  {
    FOOT                  = 1,
    UPPER_BODY            = 2,
    FOOT_CONTACT_SUPPORT  = 4
  };

  // typedefs
  typedef boost::shared_ptr<CollisionCheckPlugin> Ptr;
  typedef boost::shared_ptr<const CollisionCheckPlugin> ConstPtr;

  CollisionCheckPlugin(const std::string& name);

  bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  bool initialize(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  virtual void reset();

  bool isUnique() const override;
  virtual bool isCollisionCheckAvailable() const;

  virtual bool isAccessible(const State& s) const = 0;
  virtual bool isAccessible(const State& next, const State& current) const = 0;

private:
  bool collision_check_enabled_;
  unsigned int collision_check_flag_;
};
}

#endif