collision_robot_fcl.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_ROBOT_
#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_ROBOT_

#include <moveit/collision_detection_fcl/collision_common.h>

namespace collision_detection
{
class CollisionRobotFCL : public CollisionRobot
{
  friend class CollisionWorldFCL;

public:
  CollisionRobotFCL(const robot_model::RobotModelConstPtr& kmodel, double padding = 0.0, double scale = 1.0);

  CollisionRobotFCL(const CollisionRobotFCL& 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 void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                            const robot_state::RobotState& state) const override;

  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;

protected:
  virtual void updatedPaddingOrScaling(const std::vector<std::string>& links);
  void constructFCLObject(const robot_state::RobotState& state, FCLObject& fcl_obj) const;
  void allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const;
  void getAttachedBodyObjects(const robot_state::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;

  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
                                const AllowedCollisionMatrix* acm) const;
  void checkOtherCollisionHelper(const CollisionRequest& req, CollisionResult& res,
                                 const robot_state::RobotState& state, const CollisionRobot& other_robot,
                                 const robot_state::RobotState& other_state, const AllowedCollisionMatrix* acm) const;

  std::vector<FCLGeometryConstPtr> geoms_;
  std::vector<FCLCollisionObjectConstPtr> fcl_objs_;
};
}

#endif