moveit_core: collision_robot_allvalid.h Source File

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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
00038 #define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
00039 
00040 #include <moveit/collision_detection/collision_robot.h>
00041 
00042 namespace collision_detection
00043 {
00044 class CollisionRobotAllValid : public CollisionRobot
00045 {
00046 public:
00047   CollisionRobotAllValid(const robot_model::RobotModelConstPtr& kmodel, double padding = 0.0, double scale = 1.0);
00048   CollisionRobotAllValid(const CollisionRobot& other);
00049 
00050   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
00051                                   const robot_state::RobotState& state) const;
00052   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
00053                                   const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
00054   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
00055                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
00056   virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
00057                                   const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00058                                   const AllowedCollisionMatrix& acm) const;
00059 
00060   virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
00061                                    const robot_state::RobotState& state, const CollisionRobot& other_robot,
00062                                    const robot_state::RobotState& other_state) const;
00063   virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
00064                                    const robot_state::RobotState& state, const CollisionRobot& other_robot,
00065                                    const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
00066   virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
00067                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00068                                    const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
00069                                    const robot_state::RobotState& other_state2) const;
00070   virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
00071                                    const robot_state::RobotState& state1, const robot_state::RobotState& state2,
00072                                    const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
00073                                    const robot_state::RobotState& other_state2,
00074                                    const AllowedCollisionMatrix& acm) const;
00075 
00076   virtual double distanceSelf(const robot_state::RobotState& state) const;
00077   virtual double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
00078 
00079   virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
00080                                const robot_state::RobotState& other_state) const;
00081   virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
00082                                const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
00083 };
00084 }
00085 
00086 #endif