collision_detector_allocator.h
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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 #include <moveit/macros/class_forward.h>
00043 
00044 namespace collision_detection
00045 {
00046 MOVEIT_CLASS_FORWARD(CollisionDetectorAllocator);
00047 
00049 class CollisionDetectorAllocator
00050 {
00051 public:
00053   virtual const std::string& getName() const = 0;
00054 
00056   virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const = 0;
00057 
00061   virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const = 0;
00062 
00064   virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const = 0;
00065 
00067   virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const = 0;
00068 };
00069 
00071 template <class CollisionWorldType, class CollisionRobotType, class CollisionDetectorAllocatorType>
00072 class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
00073 {
00074 public:
00075   virtual const std::string& getName() const
00076   {
00077     return CollisionDetectorAllocatorType::NAME_;
00078   }
00079 
00080   virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const
00081   {
00082     return CollisionWorldPtr(new CollisionWorldType(world));
00083   }
00084 
00085   virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const
00086   {
00087     return CollisionWorldPtr(new CollisionWorldType(dynamic_cast<const CollisionWorldType&>(*orig), world));
00088   }
00089 
00090   virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const
00091   {
00092     return CollisionRobotPtr(new CollisionRobotType(robot_model));
00093   }
00094 
00095   virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const
00096   {
00097     return CollisionRobotPtr(new CollisionRobotType(dynamic_cast<const CollisionRobotType&>(*orig)));
00098   }
00099 
00101   static CollisionDetectorAllocatorPtr create()
00102   {
00103     return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType());
00104   }
00105 };
00106 }
00107 
00108 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45