collision_robot_hybrid.cpp
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00034 
00035 /* Author: E. Gil Jones */
00036 
00037 #include <moveit/collision_distance_field/collision_robot_hybrid.h>
00038 
00039 namespace collision_detection
00040 {
00041 CollisionRobotHybrid::CollisionRobotHybrid(const robot_model::RobotModelConstPtr& kmodel) : CollisionRobotFCL(kmodel)
00042 {
00043   crobot_distance_.reset(new collision_detection::CollisionRobotDistanceField(kmodel));
00044 }
00045 
00046 CollisionRobotHybrid::CollisionRobotHybrid(
00047     const robot_model::RobotModelConstPtr& kmodel,
00048     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
00049     double size_z, bool use_signed_distance_field, double resolution, double collision_tolerance,
00050     double max_propogation_distance, double padding, double scale)
00051   : CollisionRobotFCL(kmodel)
00052 {
00053   crobot_distance_.reset(new collision_detection::CollisionRobotDistanceField(
00054       kmodel, link_body_decompositions, size_x, size_y, size_z, use_signed_distance_field, resolution,
00055       collision_tolerance, max_propogation_distance, padding, scale));
00056 }
00057 
00058 CollisionRobotHybrid::CollisionRobotHybrid(const CollisionRobotHybrid& other) : CollisionRobotFCL(other)
00059 {
00060   crobot_distance_.reset(
00061       new collision_detection::CollisionRobotDistanceField(*other.getCollisionRobotDistanceField().get()));
00062 }
00063 
00064 void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
00065                                                            collision_detection::CollisionResult& res,
00066                                                            const robot_state::RobotState& state) const
00067 {
00068   crobot_distance_->checkSelfCollision(req, res, state);
00069 }
00070 
00071 void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
00072                                                            collision_detection::CollisionResult& res,
00073                                                            const robot_state::RobotState& state,
00074                                                            boost::shared_ptr<GroupStateRepresentation>& gsr) const
00075 {
00076   crobot_distance_->checkSelfCollision(req, res, state, gsr);
00077 }
00078 
00079 void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
00080                                                            collision_detection::CollisionResult& res,
00081                                                            const robot_state::RobotState& state,
00082                                                            const collision_detection::AllowedCollisionMatrix& acm) const
00083 {
00084   crobot_distance_->checkSelfCollision(req, res, state, acm);
00085 }
00086 
00087 void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
00088                                                            collision_detection::CollisionResult& res,
00089                                                            const robot_state::RobotState& state,
00090                                                            const collision_detection::AllowedCollisionMatrix& acm,
00091                                                            boost::shared_ptr<GroupStateRepresentation>& gsr) const
00092 {
00093   crobot_distance_->checkSelfCollision(req, res, state, acm, gsr);
00094 }
00095 }


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Mon Jul 24 2017 02:21:02