collision_world_allvalid.cpp

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/* Author: Ioan Sucan */

#include <moveit/collision_detection/allvalid/collision_world_allvalid.h>

collision_detection::CollisionWorldAllValid::CollisionWorldAllValid() : CollisionWorld()
{
}

collision_detection::CollisionWorldAllValid::CollisionWorldAllValid(const WorldPtr& world) : CollisionWorld(world)
{
}

collision_detection::CollisionWorldAllValid::CollisionWorldAllValid(const CollisionWorld& other, const WorldPtr& world)
  : CollisionWorld(other, world)
{
}

void collision_detection::CollisionWorldAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                                                      const CollisionRobot& robot,
                                                                      const robot_state::RobotState& state) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionWorldAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                                                      const CollisionRobot& robot,
                                                                      const robot_state::RobotState& state,
                                                                      const AllowedCollisionMatrix& acm) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionWorldAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                                                      const CollisionRobot& robot,
                                                                      const robot_state::RobotState& state1,
                                                                      const robot_state::RobotState& state2) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionWorldAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                                                      const CollisionRobot& robot,
                                                                      const robot_state::RobotState& state1,
                                                                      const robot_state::RobotState& state2,
                                                                      const AllowedCollisionMatrix& acm) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionWorldAllValid::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
                                                                      const CollisionWorld& other_world) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

void collision_detection::CollisionWorldAllValid::checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
                                                                      const CollisionWorld& other_world,
                                                                      const AllowedCollisionMatrix& acm) const
{
  res.collision = false;
  if (req.verbose)
    ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
}

double collision_detection::CollisionWorldAllValid::distanceRobot(const CollisionRobot& robot,
                                                                  const robot_state::RobotState& state) const
{
  return 0.0;
}

double collision_detection::CollisionWorldAllValid::distanceRobot(const CollisionRobot& robot,
                                                                  const robot_state::RobotState& state,
                                                                  const AllowedCollisionMatrix& acm) const
{
  return 0.0;
}

void collision_detection::CollisionWorldAllValid::distanceRobot(const collision_detection::DistanceRequest& req,
                                                                collision_detection::DistanceResult& res,
                                                                const collision_detection::CollisionRobot& robot,
                                                                const moveit::core::RobotState& state) const
{
  res.collision = false;
}

double collision_detection::CollisionWorldAllValid::distanceWorld(const CollisionWorld& world) const
{
  return 0.0;
}

double collision_detection::CollisionWorldAllValid::distanceWorld(const CollisionWorld& world,
                                                                  const AllowedCollisionMatrix& acm) const
{
  return 0.0;
}

void collision_detection::CollisionWorldAllValid::distanceWorld(const collision_detection::DistanceRequest& req,
                                                                collision_detection::DistanceResult& res,
                                                                const collision_detection::CollisionWorld& world) const
{
  res.collision = false;
}

#include <moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h>
const std::string collision_detection::CollisionDetectorAllocatorAllValid::NAME("ALL_VALID");