00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Acorn Pooley, Ioan Sucan */ 00036 00037 #ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ 00038 #define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_ 00039 00040 #include <moveit/collision_detection/collision_robot.h> 00041 #include <moveit/collision_detection/collision_world.h> 00042 00043 namespace collision_detection 00044 { 00045 00047 class CollisionDetectorAllocator 00048 { 00049 public: 00051 virtual const std::string& getName() const = 0; 00052 00054 virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const = 0; 00055 00058 virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const = 0; 00059 00061 virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const = 0; 00062 00064 virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const = 0; 00065 }; 00066 00067 typedef boost::shared_ptr<CollisionDetectorAllocator> CollisionDetectorAllocatorPtr; 00068 00069 00070 00072 template<class CollisionWorldType, class CollisionRobotType, class CollisionDetectorAllocatorType> 00073 class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator 00074 { 00075 public: 00076 virtual const std::string& getName() const 00077 { 00078 return CollisionDetectorAllocatorType::NAME_; 00079 } 00080 00081 virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const 00082 { 00083 return CollisionWorldPtr(new CollisionWorldType(world)); 00084 } 00085 00086 virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const 00087 { 00088 return CollisionWorldPtr(new CollisionWorldType(dynamic_cast<const CollisionWorldType&>(*orig), world)); 00089 } 00090 00091 virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const 00092 { 00093 return CollisionRobotPtr(new CollisionRobotType(robot_model)); 00094 } 00095 00096 virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const 00097 { 00098 return CollisionRobotPtr(new CollisionRobotType(dynamic_cast<const CollisionRobotType&>(*orig))); 00099 } 00100 00102 static CollisionDetectorAllocatorPtr create() 00103 { 00104 return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType()); 00105 } 00106 }; 00107 00108 } 00109 00110 #endif