collision_robot_hybrid.cpp

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/* Author: E. Gil Jones */

#include <moveit/collision_distance_field/collision_robot_hybrid.h>

namespace collision_detection
{
CollisionRobotHybrid::CollisionRobotHybrid(const robot_model::RobotModelConstPtr& kmodel) : CollisionRobotFCL(kmodel)
{
  crobot_distance_.reset(new collision_detection::CollisionRobotDistanceField(kmodel));
}

CollisionRobotHybrid::CollisionRobotHybrid(
    const robot_model::RobotModelConstPtr& kmodel,
    const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
    double size_z, bool use_signed_distance_field, double resolution, double collision_tolerance,
    double max_propogation_distance, double padding, double scale)
  : CollisionRobotFCL(kmodel)
{
  crobot_distance_.reset(new collision_detection::CollisionRobotDistanceField(
      kmodel, link_body_decompositions, size_x, size_y, size_z, use_signed_distance_field, resolution,
      collision_tolerance, max_propogation_distance, padding, scale));
}

CollisionRobotHybrid::CollisionRobotHybrid(const CollisionRobotHybrid& other) : CollisionRobotFCL(other)
{
  crobot_distance_.reset(
      new collision_detection::CollisionRobotDistanceField(*other.getCollisionRobotDistanceField().get()));
}

void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                                           collision_detection::CollisionResult& res,
                                                           const robot_state::RobotState& state) const
{
  crobot_distance_->checkSelfCollision(req, res, state);
}

void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                                           collision_detection::CollisionResult& res,
                                                           const robot_state::RobotState& state,
                                                           GroupStateRepresentationPtr& gsr) const
{
  crobot_distance_->checkSelfCollision(req, res, state, gsr);
}

void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                                           collision_detection::CollisionResult& res,
                                                           const robot_state::RobotState& state,
                                                           const collision_detection::AllowedCollisionMatrix& acm) const
{
  crobot_distance_->checkSelfCollision(req, res, state, acm);
}

void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                                           collision_detection::CollisionResult& res,
                                                           const robot_state::RobotState& state,
                                                           const collision_detection::AllowedCollisionMatrix& acm,
                                                           GroupStateRepresentationPtr& gsr) const
{
  crobot_distance_->checkSelfCollision(req, res, state, acm, gsr);
}
}