collision_world.h
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00034 
00035 /* Author: Ioan Sucan, Sachin Chitta */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_COLLISION_WORLD_
00038 #define MOVEIT_COLLISION_DETECTION_COLLISION_WORLD_
00039 
00040 #include <boost/utility.hpp>
00041 
00042 #include <moveit/collision_detection/collision_matrix.h>
00043 #include <moveit/collision_detection/collision_robot.h>
00044 #include <moveit/collision_detection/world.h>
00045 
00047 namespace collision_detection
00048 {
00049 
00053   class CollisionWorld : private boost::noncopyable
00054   {
00055   public:
00056 
00057     CollisionWorld();
00058 
00059     explicit CollisionWorld(const WorldPtr& world);
00060 
00063     CollisionWorld(const CollisionWorld &other, const WorldPtr& world);
00064 
00065     virtual ~CollisionWorld()
00066     {
00067     }
00068 
00069     /**********************************************************************/
00070     /* Collision Checking Routines                                        */
00071     /**********************************************************************/
00072 
00078     virtual void checkCollision(const CollisionRequest &req,
00079                                 CollisionResult &res,
00080                                 const CollisionRobot &robot,
00081                                 const robot_state::RobotState &state) const;
00082 
00089     virtual void checkCollision(const CollisionRequest &req,
00090                                 CollisionResult &res,
00091                                 const CollisionRobot &robot,
00092                                 const robot_state::RobotState &state,
00093                                 const AllowedCollisionMatrix &acm) const;
00094 
00102     virtual void checkCollision(const CollisionRequest &req,
00103                                 CollisionResult &res,
00104                                 const CollisionRobot &robot,
00105                                 const robot_state::RobotState &state1,
00106                                 const robot_state::RobotState &state2) const;
00107 
00116     virtual void checkCollision(const CollisionRequest &req,
00117                                 CollisionResult &res,
00118                                 const CollisionRobot &robot,
00119                                 const robot_state::RobotState &state1,
00120                                 const robot_state::RobotState &state2,
00121                                 const AllowedCollisionMatrix &acm) const;
00122 
00130     virtual void checkRobotCollision(const CollisionRequest &req,
00131                                      CollisionResult &res,
00132                                      const CollisionRobot &robot,
00133                                      const robot_state::RobotState &state) const = 0;
00134 
00142     virtual void checkRobotCollision(const CollisionRequest &req,
00143                                      CollisionResult &res,
00144                                      const CollisionRobot &robot,
00145                                      const robot_state::RobotState &state,
00146                                      const AllowedCollisionMatrix &acm) const = 0;
00147 
00155     virtual void checkRobotCollision(const CollisionRequest &req,
00156                                      CollisionResult &res,
00157                                      const CollisionRobot &robot,
00158                                      const robot_state::RobotState &state1,
00159                                      const robot_state::RobotState &state2) const = 0;
00160 
00169     virtual void checkRobotCollision(const CollisionRequest &req,
00170                                      CollisionResult &res,
00171                                      const CollisionRobot &robot,
00172                                      const robot_state::RobotState &state1,
00173                                      const robot_state::RobotState &state2,
00174                                      const AllowedCollisionMatrix &acm) const = 0;
00175 
00182     virtual void checkWorldCollision(const CollisionRequest &req,
00183                                      CollisionResult &res,
00184                                      const CollisionWorld &other_world) const = 0;
00185 
00192     virtual void checkWorldCollision(const CollisionRequest &req,
00193                                      CollisionResult &res,
00194                                      const CollisionWorld &other_world,
00195                                      const AllowedCollisionMatrix &acm) const = 0;
00196 
00200     virtual double distanceRobot(const CollisionRobot &robot,
00201                                  const robot_state::RobotState &state) const = 0;
00202 
00207     virtual double distanceRobot(const CollisionRobot &robot,
00208                                  const robot_state::RobotState &state,
00209                                  const AllowedCollisionMatrix &acm) const = 0;
00210 
00212     virtual double distanceWorld(const CollisionWorld &world) const = 0;
00213 
00215     virtual double distanceWorld(const CollisionWorld &world,
00216                                  const AllowedCollisionMatrix &acm) const = 0;
00220     virtual void setWorld(const WorldPtr& world);
00221 
00223     const WorldPtr& getWorld()
00224     {
00225       return world_;
00226     }
00227 
00229     const WorldConstPtr& getWorld() const
00230     {
00231       return world_const_;
00232     }
00233 
00234     typedef World::ObjectPtr ObjectPtr;
00235     typedef World::ObjectConstPtr ObjectConstPtr;
00236 
00237   private:
00238     WorldPtr      world_;       // The world.  Always valid.  Never NULL.
00239     WorldConstPtr world_const_; // always same as world_
00240   };
00241 
00242   typedef boost::shared_ptr<CollisionWorld> CollisionWorldPtr;
00243   typedef boost::shared_ptr<const CollisionWorld> CollisionWorldConstPtr;
00244 }
00245 
00246 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52