collision_robot_allvalid.cpp

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/* Author: Ioan Sucan, Jia Pan */

#include <moveit/collision_detection/allvalid/collision_robot_allvalid.h>

collision_detection::CollisionRobotAllValid::CollisionRobotAllValid(const robot_model::RobotModelConstPtr& kmodel,
                                                                    double padding, double scale)
  : CollisionRobot(kmodel, padding, scale)
{
}

collision_detection::CollisionRobotAllValid::CollisionRobotAllValid(const CollisionRobot& other) : CollisionRobot(other)
{
}

void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                                                     const robot_state::RobotState& state) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                                                     const robot_state::RobotState& state,
                                                                     const AllowedCollisionMatrix& acm) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                                                     const robot_state::RobotState& state1,
                                                                     const robot_state::RobotState& state2) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                                                     const robot_state::RobotState& state1,
                                                                     const robot_state::RobotState& state2,
                                                                     const AllowedCollisionMatrix& acm) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
                                                                      const robot_state::RobotState& state,
                                                                      const CollisionRobot& other_robot,
                                                                      const robot_state::RobotState& other_state) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::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
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::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
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionRobotAllValid::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
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

double collision_detection::CollisionRobotAllValid::distanceSelf(const robot_state::RobotState& state) const
{
  return 0.0;
}

double collision_detection::CollisionRobotAllValid::distanceSelf(const robot_state::RobotState& state,
                                                                 const AllowedCollisionMatrix& acm) const
{
  return 0.0;
}

void collision_detection::CollisionRobotAllValid::distanceSelf(const collision_detection::DistanceRequest& req,
                                                               collision_detection::DistanceResult& res,
                                                               const moveit::core::RobotState& state) const
{
  res.collision = false;
}

double collision_detection::CollisionRobotAllValid::distanceOther(const robot_state::RobotState& state,
                                                                  const CollisionRobot& other_robot,
                                                                  const robot_state::RobotState& other_state) const
{
  return 0.0;
}

double collision_detection::CollisionRobotAllValid::distanceOther(const robot_state::RobotState& state,
                                                                  const CollisionRobot& other_robot,
                                                                  const robot_state::RobotState& other_state,
                                                                  const AllowedCollisionMatrix& acm) const
{
  return 0.0;
}

void collision_detection::CollisionRobotAllValid::distanceOther(const collision_detection::DistanceRequest& req,
                                                                collision_detection::DistanceResult& res,
                                                                const moveit::core::RobotState& state,
                                                                const collision_detection::CollisionRobot& other_robot,
                                                                const moveit::core::RobotState& other_state) const
{
  res.collision = false;
}