collision_world_industrial.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef COLLISION_DETECTION_COLLISION_WORLD_INDUSTRIAL_H_
00038 #define COLLISION_DETECTION_COLLISION_WORLD_INDUSTRIAL_H_
00039 
00040 #include <industrial_collision_detection/collision_detection/collision_robot_industrial.h>
00041 #include <fcl/broadphase/broadphase.h>
00042 #include <boost/scoped_ptr.hpp>
00043 
00044 namespace collision_detection
00045 {
00046 
00047   class CollisionWorldIndustrial : public CollisionWorld
00048   {
00049   public:
00050 
00051     CollisionWorldIndustrial();
00052     explicit CollisionWorldIndustrial(const WorldPtr& world);
00053     CollisionWorldIndustrial(const CollisionWorldIndustrial &other, const WorldPtr& world);
00054     virtual ~CollisionWorldIndustrial();
00055 
00056 
00057     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const;
00058     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00059     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const;
00060     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const;
00061     virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const;
00062     virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const;
00063 
00064     virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state) const;
00065     virtual void distanceRobot(const DistanceRequest &req, DistanceResult &res, const collision_detection::CollisionRobot &robot, const robot_state::RobotState &state) const;
00066     virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00067     virtual double distanceWorld(const CollisionWorld &world) const;
00068     virtual double distanceWorld(const CollisionWorld &world, const AllowedCollisionMatrix &acm) const;
00069 
00070     virtual void setWorld(const WorldPtr& world);
00071 
00072   protected:
00073 
00074     void checkWorldCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const;
00075     void checkRobotCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
00076     double distanceRobotHelper(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
00077     void distanceRobotHelper(const DistanceRequest &req, DistanceResult &res, const collision_detection::CollisionRobot &robot, const robot_state::RobotState &state) const;
00078     double distanceWorldHelper(const CollisionWorld &world, const AllowedCollisionMatrix *acm) const;
00079 
00080     void constructFCLObject(const World::Object *obj, FCLObject &fcl_obj) const;
00081     void updateFCLObject(const std::string &id);
00082 
00083 
00084     boost::scoped_ptr<fcl::BroadPhaseCollisionManager> manager_;
00085     std::map<std::string, FCLObject >                  fcl_objs_;
00086 
00087   private:
00088     void initialize();
00089     void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
00090     World::ObserverHandle observer_handle_;
00091   };
00092 
00093   typedef boost::shared_ptr<CollisionWorldIndustrial> CollisionWorldIndustrialPtr;
00094   typedef boost::shared_ptr<const CollisionWorldIndustrial> CollisionWorldIndustrialConstPtr;
00095 }
00096 
00097 #endif


industrial_collision_detection
Author(s): Levi Armstrong
autogenerated on Sat Jun 8 2019 19:23:38