collision_world_allvalid.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
00038 #define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
00039 
00040 #include <moveit/collision_detection/collision_world.h>
00041 
00042 namespace collision_detection
00043 {
00044 class CollisionRobotAllValid;
00045 
00046 class CollisionWorldAllValid : public CollisionWorld
00047 {
00048 public:
00049   CollisionWorldAllValid();
00050   explicit CollisionWorldAllValid(const WorldPtr& world);
00051   CollisionWorldAllValid(const CollisionWorld& other, const WorldPtr& world);
00052 
00053   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00054                                    const robot_state::RobotState& state) const;
00055   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00056                                    const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
00057   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00058                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
00059   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00060                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00061                                    const AllowedCollisionMatrix& acm) const;
00062 
00063   virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
00064                                    const CollisionWorld& other_world) const;
00065   virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
00066                                    const AllowedCollisionMatrix& acm) const;
00067 
00068   virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state) const;
00069   virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
00070                                const AllowedCollisionMatrix& acm) const;
00071   virtual double distanceWorld(const CollisionWorld& world) const;
00072   virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm) const;
00073 };
00074 }
00075 
00076 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:35