collision_world.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, 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: Ioan Sucan */
00036 
00037 #include <moveit/collision_detection/collision_world.h>
00038 #include <geometric_shapes/shape_operations.h>
00039 
00040 collision_detection::CollisionWorld::CollisionWorld() : world_(new World()), world_const_(world_)
00041 {
00042 }
00043 
00044 collision_detection::CollisionWorld::CollisionWorld(const WorldPtr& world) : world_(world), world_const_(world)
00045 {
00046 }
00047 
00048 collision_detection::CollisionWorld::CollisionWorld(const CollisionWorld& other, const WorldPtr& world)
00049   : world_(world), world_const_(world)
00050 {
00051 }
00052 
00053 void collision_detection::CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res,
00054                                                          const CollisionRobot& robot,
00055                                                          const robot_state::RobotState& state) const
00056 {
00057   robot.checkSelfCollision(req, res, state);
00058   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
00059     checkRobotCollision(req, res, robot, state);
00060 }
00061 
00062 void collision_detection::CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res,
00063                                                          const CollisionRobot& robot,
00064                                                          const robot_state::RobotState& state,
00065                                                          const AllowedCollisionMatrix& acm) const
00066 {
00067   robot.checkSelfCollision(req, res, state, acm);
00068   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
00069     checkRobotCollision(req, res, robot, state, acm);
00070 }
00071 
00072 void collision_detection::CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res,
00073                                                          const CollisionRobot& robot,
00074                                                          const robot_state::RobotState& state1,
00075                                                          const robot_state::RobotState& state2) const
00076 {
00077   robot.checkSelfCollision(req, res, state1, state2);
00078   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
00079     checkRobotCollision(req, res, robot, state1, state2);
00080 }
00081 
00082 void collision_detection::CollisionWorld::checkCollision(const CollisionRequest& req, CollisionResult& res,
00083                                                          const CollisionRobot& robot,
00084                                                          const robot_state::RobotState& state1,
00085                                                          const robot_state::RobotState& state2,
00086                                                          const AllowedCollisionMatrix& acm) const
00087 {
00088   robot.checkSelfCollision(req, res, state1, state2, acm);
00089   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
00090     checkRobotCollision(req, res, robot, state1, state2, acm);
00091 }
00092 
00093 void collision_detection::CollisionWorld::setWorld(const WorldPtr& world)
00094 {
00095   world_ = world;
00096   if (!world_)
00097     world_.reset(new World());
00098 
00099   world_const_ = world;
00100 }


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