collision_world_allvalid.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
38 #define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
39 
41 
42 namespace collision_detection
43 {
44 class CollisionRobotAllValid;
45 
47 {
48 public:
50  explicit CollisionWorldAllValid(const WorldPtr& world);
51  CollisionWorldAllValid(const CollisionWorld& other, const WorldPtr& world);
52 
53  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
54  const robot_state::RobotState& state) const;
55  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
56  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
57  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
58  const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
59  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
60  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
61  const AllowedCollisionMatrix& acm) const;
62 
63  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
64  const CollisionWorld& other_world) const;
65  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
66  const AllowedCollisionMatrix& acm) const;
67 
68  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state) const;
69  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
70  const AllowedCollisionMatrix& acm) const;
71  virtual double distanceWorld(const CollisionWorld& world) const;
72  virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm) const;
73 };
74 }
75 
76 #endif
virtual double distanceWorld(const CollisionWorld &world) const
virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state) const
Generic interface to collision detection.
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
This class represents a collision model of the robot and can be used for self collision checks (to ch...
virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const
Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.
Perform collision checking with the environment. The collision world maintains a representation of th...
virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const
Check whether the robot model is in collision with the world. Any collisions between a robot link and...
Representation of a robot's state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:110


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Apr 21 2018 02:54:51