world.h

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/* Author: Ioan Sucan, Acorn Pooley, Sachin Chitta */

#ifndef MOVEIT_COLLISION_DETECTION_WORLD_
#define MOVEIT_COLLISION_DETECTION_WORLD_

#include <moveit/macros/class_forward.h>

#include <string>
#include <vector>
#include <map>
#include <memory>
#include <boost/function.hpp>
#include <Eigen/Geometry>
#include <eigen_stl_containers/eigen_stl_vector_container.h>

namespace shapes
{
MOVEIT_CLASS_FORWARD(Shape);
}

namespace collision_detection
{
MOVEIT_CLASS_FORWARD(World);

class World
{
public:
  World();

  World(const World& other);

  virtual ~World();

  /**********************************************************************/
  /* Collision Bodies                                                   */
  /**********************************************************************/

  MOVEIT_STRUCT_FORWARD(Object);

  struct Object
  {
    Object(const std::string& id) : id_(id)
    {
    }

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    std::string id_;

    std::vector<shapes::ShapeConstPtr> shapes_;

    EigenSTL::vector_Affine3d shape_poses_;
  };

  std::vector<std::string> getObjectIds() const;

  ObjectConstPtr getObject(const std::string& id) const;

  typedef std::map<std::string, ObjectPtr>::const_iterator const_iterator;
  const_iterator begin() const
  {
    return objects_.begin();
  }
  const_iterator end() const
  {
    return objects_.end();
  }
  std::size_t size() const
  {
    return objects_.size();
  }
  const_iterator find(const std::string& id) const
  {
    return objects_.find(id);
  }

  bool hasObject(const std::string& id) const;

  void addToObject(const std::string& id, const std::vector<shapes::ShapeConstPtr>& shapes,
                   const EigenSTL::vector_Affine3d& poses);

  void addToObject(const std::string& id, const shapes::ShapeConstPtr& shape, const Eigen::Affine3d& pose);

  bool moveShapeInObject(const std::string& id, const shapes::ShapeConstPtr& shape, const Eigen::Affine3d& pose);

  bool moveObject(const std::string& id, const Eigen::Affine3d& transform);

  bool removeShapeFromObject(const std::string& id, const shapes::ShapeConstPtr& shape);

  bool removeObject(const std::string& id);

  void clearObjects();

  enum ActionBits
  {
    UNINITIALIZED = 0,
    CREATE = 1,        
    DESTROY = 2,       
    MOVE_SHAPE = 4,    
    ADD_SHAPE = 8,     
    REMOVE_SHAPE = 16, 
  };

  class Action
  {
  public:
    Action() : action_(UNINITIALIZED)
    {
    }
    Action(int v) : action_(v)
    {
    }
    operator ActionBits() const
    {
      return ActionBits(action_);
    }

  private:
    int action_;
  };

private:
  class Observer;

public:
  class ObserverHandle
  {
  public:
    ObserverHandle() : observer_(NULL)
    {
    }

  private:
    ObserverHandle(const Observer* o) : observer_(o)
    {
    }
    const Observer* observer_;
    friend class World;
  };

  typedef boost::function<void(const ObjectConstPtr&, Action)> ObserverCallbackFn;

  ObserverHandle addObserver(const ObserverCallbackFn& callback);

  void removeObserver(const ObserverHandle observer_handle);

  void notifyObserverAllObjects(const ObserverHandle observer_handle, Action action) const;

private:
  void notify(const ObjectConstPtr&, Action);

  void notifyAll(Action action);

  void ensureUnique(ObjectPtr& obj);

  /* Add a shape with no checking */
  virtual void addToObjectInternal(const ObjectPtr& obj, const shapes::ShapeConstPtr& shape,
                                   const Eigen::Affine3d& pose);

  std::map<std::string, ObjectPtr> objects_;

  /* observers to call when something changes */
  class Observer
  {
  public:
    Observer(const ObserverCallbackFn& callback) : callback_(callback)
    {
    }
    ObserverCallbackFn callback_;
  };
  std::vector<Observer*> observers_;
};
}

#endif