collision_world_fcl.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_

#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
#include <moveit/collision_detection_fcl/fcl_compat.h>

#if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
#include <fcl/broadphase/broadphase_collision_manager.h>
#else
#include <fcl/broadphase/broadphase.h>
#endif

#include <memory>

namespace collision_detection
{
class CollisionWorldFCL : public CollisionWorld
{
public:
  CollisionWorldFCL();
  explicit CollisionWorldFCL(const WorldPtr& world);
  CollisionWorldFCL(const CollisionWorldFCL& other, const WorldPtr& world);
  ~CollisionWorldFCL() override;

  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                           const robot_state::RobotState& state) const override;
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                           const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const override;
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                           const robot_state::RobotState& state1, const robot_state::RobotState& state2) const override;
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                           const robot_state::RobotState& state1, const robot_state::RobotState& state2,
                           const AllowedCollisionMatrix& acm) const override;
  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
                           const CollisionWorld& other_world) const override;
  void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
                           const AllowedCollisionMatrix& acm) const override;

  void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
                     const robot_state::RobotState& state) const override;

  void distanceWorld(const DistanceRequest& req, DistanceResult& res, const CollisionWorld& world) const override;

  void setWorld(const WorldPtr& world) override;

protected:
  void checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
                                 const AllowedCollisionMatrix* acm) const;
  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
                                 const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;

  void constructFCLObject(const World::Object* obj, FCLObject& fcl_obj) const;
  void updateFCLObject(const std::string& id);

  std::unique_ptr<fcl::BroadPhaseCollisionManagerd> manager_;
  std::map<std::string, FCLObject> fcl_objs_;

private:
  void initialize();
  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
  World::ObserverHandle observer_handle_;
};
}  // namespace collision_detection

#endif