collision_robot_allvalid.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
#define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_

#include <moveit/collision_detection/collision_robot.h>

namespace collision_detection
{
class CollisionRobotAllValid : public CollisionRobot
{
public:
  CollisionRobotAllValid(const robot_model::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
  CollisionRobotAllValid(const CollisionRobot& other);

  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                          const robot_state::RobotState& state) const override;
  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state,
                          const AllowedCollisionMatrix& acm) const override;
  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
                          const robot_state::RobotState& state2) const override;
  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const robot_state::RobotState& state1,
                          const robot_state::RobotState& state2, const AllowedCollisionMatrix& acm) const override;

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

  virtual double distanceSelf(const robot_state::RobotState& state) const;
  virtual double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                    const robot_state::RobotState& state) const override;

  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
                               const robot_state::RobotState& other_state) const;
  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
                               const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
  void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
                     const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override;
};
}  // namespace collision_detection

#endif