collision_world_allvalid.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
#define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_

#include <moveit/collision_detection/collision_world.h>

namespace collision_detection
{
class CollisionRobotAllValid;

class CollisionWorldAllValid : public CollisionWorld
{
public:
  CollisionWorldAllValid();
  explicit CollisionWorldAllValid(const WorldPtr& world);
  CollisionWorldAllValid(const CollisionWorld& other, const WorldPtr& world);

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

  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
                                   const CollisionWorld& other_world) const;
  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
                                   const AllowedCollisionMatrix& acm) const;

  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state) const;
  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
                               const AllowedCollisionMatrix& acm) const;
  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
                             const robot_state::RobotState& state) const override;
  virtual double distanceWorld(const CollisionWorld& world) const;
  virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm) const;
  virtual void distanceWorld(const DistanceRequest& req, DistanceResult& res,
                             const CollisionWorld& world) const override;
};
}

#endif