collision_robot_hybrid.h

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/* Author: E. Gil Jones */

#ifndef MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_ROBOT_HYBRID_H_
#define MOVEIT_COLLISION_DISTANCE_FIELD_COLLISION_ROBOT_HYBRID_H_

#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
#include <moveit/collision_distance_field/collision_distance_field_types.h>
#include <moveit/collision_distance_field/collision_common_distance_field.h>
#include <moveit/collision_distance_field/collision_robot_distance_field.h>

#include <boost/thread/mutex.hpp>

namespace collision_detection
{
class CollisionRobotHybrid : public collision_detection::CollisionRobotFCL
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  CollisionRobotHybrid(const robot_model::RobotModelConstPtr& kmodel);

  CollisionRobotHybrid(const robot_model::RobotModelConstPtr& kmodel,
                       const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions,
                       double size_x = 3.0, double size_y = 3.0, double size_z = 4.0,
                       bool use_signed_distance_field = false, double resolution = .02,
                       double collision_tolerance = 0.0, double max_propogation_distance = .25, double padding = 0.0,
                       double scale = 1.0);

  CollisionRobotHybrid(const CollisionRobotHybrid& other);

  void initializeRobotDistanceField(const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions,
                                    double size_x, double size_y, double size_z, bool use_signed_distance_field,
                                    double resolution, double collision_tolerance, double max_propogation_distance)
  {
    crobot_distance_->initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z),
                                 Eigen::Vector3d(0, 0, 0), use_signed_distance_field, resolution, collision_tolerance,
                                 max_propogation_distance);
  }

  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                       collision_detection::CollisionResult& res,
                                       const robot_state::RobotState& state) const;

  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
                                       boost::shared_ptr<GroupStateRepresentation>& gsr) const;

  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
                                       const collision_detection::AllowedCollisionMatrix& acm) const;

  void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest& req,
                                       collision_detection::CollisionResult& res, const robot_state::RobotState& state,
                                       const collision_detection::AllowedCollisionMatrix& acm,
                                       boost::shared_ptr<GroupStateRepresentation>& gsr) const;
  const boost::shared_ptr<const collision_detection::CollisionRobotDistanceField> getCollisionRobotDistanceField() const
  {
    return crobot_distance_;
  }

protected:
  boost::shared_ptr<collision_detection::CollisionRobotDistanceField> crobot_distance_;
};
}

#endif