collision_robot.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_ROBOT_
#define MOVEIT_COLLISION_DETECTION_COLLISION_ROBOT_

#include <moveit/collision_detection/collision_matrix.h>
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/LinkPadding.h>
#include <moveit_msgs/LinkScale.h>

namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionRobot);

class CollisionRobot
{
public:
  CollisionRobot(const robot_model::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);  // NOLINT

  CollisionRobot(const CollisionRobot& other);

  virtual ~CollisionRobot()
  {
  }

  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state) const = 0;

  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;

  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state1,
                                  const robot_state::RobotState& state2) const = 0;

  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
                                  const AllowedCollisionMatrix& acm) const = 0;

  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
                                   const robot_state::RobotState& state, const CollisionRobot& other_robot,
                                   const robot_state::RobotState& other_state) const = 0;

  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 = 0;

  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 = 0;

  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 = 0;

  inline double distanceSelf(const robot_state::RobotState& state) const
  {
    DistanceRequest req;
    DistanceResult res;

    req.enableGroup(getRobotModel());
    distanceSelf(req, res, state);
    return res.minimum_distance.distance;
  }

  inline double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
  {
    DistanceRequest req;
    DistanceResult res;

    req.enableGroup(getRobotModel());
    req.acm = &acm;
    distanceSelf(req, res, state);
    return res.minimum_distance.distance;
  }

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

  inline double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
                              const robot_state::RobotState& other_state) const
  {
    DistanceRequest req;
    DistanceResult res;

    req.enableGroup(getRobotModel());
    distanceOther(req, res, state, other_robot, other_state);
    return res.minimum_distance.distance;
  }

  inline double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
                              const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const
  {
    DistanceRequest req;
    DistanceResult res;

    req.enableGroup(getRobotModel());
    req.acm = &acm;
    distanceOther(req, res, state, other_robot, other_state);
    return res.minimum_distance.distance;
  }

  virtual void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
                             const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const = 0;

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }

  void setLinkPadding(const std::string& link_name, double padding);

  double getLinkPadding(const std::string& link_name) const;

  void setLinkPadding(const std::map<std::string, double>& padding);

  const std::map<std::string, double>& getLinkPadding() const;

  void setLinkScale(const std::string& link_name, double scale);

  double getLinkScale(const std::string& link_name) const;

  void setLinkScale(const std::map<std::string, double>& scale);

  const std::map<std::string, double>& getLinkScale() const;

  void setPadding(double padding);

  void setScale(double scale);

  void setPadding(const std::vector<moveit_msgs::LinkPadding>& padding);

  void getPadding(std::vector<moveit_msgs::LinkPadding>& padding) const;

  void setScale(const std::vector<moveit_msgs::LinkScale>& scale);

  void getScale(std::vector<moveit_msgs::LinkScale>& scale) const;

protected:
  virtual void updatedPaddingOrScaling(const std::vector<std::string>& links);

  robot_model::RobotModelConstPtr robot_model_;

  std::map<std::string, double> link_padding_;

  std::map<std::string, double> link_scale_;
};
}

#endif