collision_world_fcl.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 */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
00038 #define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
00039 
00040 #include <moveit/collision_detection_fcl/collision_robot_fcl.h>
00041 #include <fcl/broadphase/broadphase.h>
00042 #include <boost/scoped_ptr.hpp>
00043 
00044 namespace collision_detection
00045 {
00046 class CollisionWorldFCL : public CollisionWorld
00047 {
00048 public:
00049   CollisionWorldFCL();
00050   explicit CollisionWorldFCL(const WorldPtr& world);
00051   CollisionWorldFCL(const CollisionWorldFCL& other, const WorldPtr& world);
00052   virtual ~CollisionWorldFCL();
00053 
00054   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00055                                    const robot_state::RobotState& state) const;
00056   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00057                                    const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
00058   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00059                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
00060   virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00061                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00062                                    const AllowedCollisionMatrix& acm) const;
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   virtual void setWorld(const WorldPtr& world);
00075 
00076 protected:
00077   void checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
00078                                  const AllowedCollisionMatrix* acm) const;
00079   void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
00080                                  const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
00081   double distanceRobotHelper(const CollisionRobot& robot, const robot_state::RobotState& state,
00082                              const AllowedCollisionMatrix* acm) const;
00083   double distanceWorldHelper(const CollisionWorld& world, const AllowedCollisionMatrix* acm) const;
00084 
00085   void constructFCLObject(const World::Object* obj, FCLObject& fcl_obj) const;
00086   void updateFCLObject(const std::string& id);
00087 
00088   boost::scoped_ptr<fcl::BroadPhaseCollisionManager> manager_;
00089   std::map<std::string, FCLObject> fcl_objs_;
00090 
00091 private:
00092   void initialize();
00093   void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
00094   World::ObserverHandle observer_handle_;
00095 };
00096 }
00097 
00098 #endif


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