collision_robot_allvalid.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
#define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_

#include <moveit/collision_detection/collision_robot.h>

namespace collision_detection
{
class CollisionRobotAllValid : public CollisionRobot
{
public:
  CollisionRobotAllValid(const robot_model::RobotModelConstPtr& kmodel, double padding = 0.0, double scale = 1.0);
  CollisionRobotAllValid(const CollisionRobot& other);

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

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

  virtual double distanceSelf(const robot_state::RobotState& state) const;
  virtual double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                            const robot_state::RobotState& state) const override;

  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
                               const robot_state::RobotState& other_state) const;
  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
                               const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
  virtual void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
                             const CollisionRobot& other_robot,
                             const robot_state::RobotState& other_state) const override;
};
}

#endif