collision_world.h

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/* 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;

  inline double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
                              bool verbose = false) const
  {
    DistanceRequest req;
    DistanceResult res;

    req.verbose = verbose;
    req.enableGroup(robot.getRobotModel());

    distanceRobot(req, res, robot, state);
    return res.minimum_distance.distance;
  }

  inline double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
                              const AllowedCollisionMatrix& acm, bool verbose = false) const
  {
    DistanceRequest req;
    DistanceResult res;

    req.acm = &acm;
    req.verbose = verbose;
    req.enableGroup(robot.getRobotModel());

    distanceRobot(req, res, robot, state);
    return res.minimum_distance.distance;
  }

  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
                             const robot_state::RobotState& state) const = 0;

  inline double distanceWorld(const CollisionWorld& world, bool verbose = false) const
  {
    DistanceRequest req;
    DistanceResult res;

    req.verbose = verbose;
    distanceWorld(req, res, world);

    return res.minimum_distance.distance;
  }

  inline double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm,
                              bool verbose = false) const
  {
    DistanceRequest req;
    DistanceResult res;

    req.acm = &acm;
    req.verbose = verbose;
    distanceWorld(req, res, world);

    return res.minimum_distance.distance;
  }

  virtual void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) 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