collision_world.h
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, 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 #include <moveit/macros/class_forward.h>
00046 
00048 namespace collision_detection
00049 {
00050 MOVEIT_CLASS_FORWARD(CollisionWorld);
00051 
00055 class CollisionWorld : private boost::noncopyable
00056 {
00057 public:
00058   CollisionWorld();
00059 
00060   explicit CollisionWorld(const WorldPtr& world);
00061 
00064   CollisionWorld(const CollisionWorld& other, const WorldPtr& world);
00065 
00066   virtual ~CollisionWorld()
00067   {
00068   }
00069 
00070   /**********************************************************************/
00071   /* Collision Checking Routines                                        */
00072   /**********************************************************************/
00073 
00079   virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00080                               const robot_state::RobotState& state) const;
00081 
00088   virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00089                               const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
00090 
00098   virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00099                               const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
00100 
00109   virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00110                               const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00111                               const AllowedCollisionMatrix& acm) const;
00112 
00120   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00121                                    const robot_state::RobotState& state) const = 0;
00122 
00130   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00131                                    const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
00132 
00141   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00142                                    const robot_state::RobotState& state1,
00143                                    const robot_state::RobotState& state2) const = 0;
00144 
00154   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00155                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00156                                    const AllowedCollisionMatrix& acm) const = 0;
00157 
00164   virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
00165                                    const CollisionWorld& other_world) const = 0;
00166 
00173   virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
00174                                    const AllowedCollisionMatrix& acm) const = 0;
00175 
00179   virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state) const = 0;
00180 
00186   virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
00187                                const AllowedCollisionMatrix& acm) const = 0;
00188 
00190   virtual double distanceWorld(const CollisionWorld& world) const = 0;
00191 
00194   virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm) const = 0;
00198   virtual void setWorld(const WorldPtr& world);
00199 
00201   const WorldPtr& getWorld()
00202   {
00203     return world_;
00204   }
00205 
00207   const WorldConstPtr& getWorld() const
00208   {
00209     return world_const_;
00210   }
00211 
00212   typedef World::ObjectPtr ObjectPtr;
00213   typedef World::ObjectConstPtr ObjectConstPtr;
00214 
00215 private:
00216   WorldPtr world_;             // The world.  Always valid.  Never NULL.
00217   WorldConstPtr world_const_;  // always same as world_
00218 };
00219 }
00220 
00221 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Dec 14 2018 03:31:40