industrial_collision_detection: collision_robot

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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef COLLISION_DETECTION_COLLISION_ROBOT_INDUSTRIAL_H_
00038 #define COLLISION_DETECTION_COLLISION_ROBOT_INDUSTRIAL_H_
00039 
00040 #include <moveit/collision_detection/collision_robot.h>
00041 #include <moveit/collision_detection_fcl/collision_common.h>
00042 
00043 #include <industrial_collision_detection/collision_detection/collision_common.h>
00044 
00045 namespace collision_detection
00046 {
00047   typedef boost::shared_ptr<fcl::CollisionObject> FCLCollisionObjectPtr;
00048   typedef boost::shared_ptr<const fcl::CollisionObject> FCLCollisionObjectConstPtr;
00049 
00050   class CollisionRobotIndustrial : public CollisionRobot
00051   {
00052     friend class CollisionWorldIndustrial;
00053 
00054   public:
00055 
00056     CollisionRobotIndustrial(const robot_model::RobotModelConstPtr &kmodel, double padding = 0.0, double scale = 1.0);
00057 
00058     CollisionRobotIndustrial(const CollisionRobotIndustrial &other);
00059 
00060     virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const;
00061     virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00062     virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const;
00063     virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const;
00064 
00065     virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
00066                                      const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const;
00067     virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
00068                                      const CollisionRobot &other_robot, const robot_state::RobotState &other_state,
00069                                      const AllowedCollisionMatrix &acm) const;
00070     virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2,
00071                                      const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2) const;
00072     virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2,
00073                                      const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2,
00074                                      const AllowedCollisionMatrix &acm) const;
00075 
00076     virtual double distanceSelf(const robot_state::RobotState &state) const;
00077     virtual double distanceSelf(const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00078     virtual void distanceSelf(const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state) const;
00079 
00080     virtual double distanceOther(const robot_state::RobotState &state,
00081                                  const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const;
00082     virtual double distanceOther(const robot_state::RobotState &state, const CollisionRobot &other_robot,
00083                                  const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const;
00084 
00085   protected:
00086 
00087     virtual void updatedPaddingOrScaling(const std::vector<std::string> &links);
00088     void constructFCLObject(const robot_state::RobotState &state, FCLObject &fcl_obj) const;
00089     void allocSelfCollisionBroadPhase(const robot_state::RobotState &state, FCLManager &manager) const;
00090     void getAttachedBodyObjects(const robot_state::AttachedBody *ab, std::vector<FCLGeometryConstPtr> &geoms) const;
00091 
00092     void checkSelfCollisionHelper(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
00093                                   const AllowedCollisionMatrix *acm) const;
00094     void checkOtherCollisionHelper(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
00095                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state,
00096                                    const AllowedCollisionMatrix *acm) const;
00097     double distanceSelfHelper(const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
00098     double distanceOtherHelper(const robot_state::RobotState &state, const CollisionRobot &other_robot,
00099                                const robot_state::RobotState &other_state, const AllowedCollisionMatrix *acm) const;
00100     void distanceSelfHelper(const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state) const;
00101 
00102     std::vector<FCLGeometryConstPtr> geoms_;
00103     std::vector<FCLCollisionObjectConstPtr> fcl_objs_;
00104   };
00105 
00106   typedef boost::shared_ptr<CollisionRobotIndustrial> CollisionRobotIndustrialPtr;
00107   typedef boost::shared_ptr<const CollisionRobotIndustrial> CollisionRobotIndustrialConstPtr;
00108 }
00109 
00110 #endif