collision_detector_allocator.h

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/* Author: Acorn Pooley, Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_
#define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_

#include <moveit/collision_detection/collision_robot.h>
#include <moveit/collision_detection/collision_world.h>
#include <moveit/macros/class_forward.h>

namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionDetectorAllocator);

class CollisionDetectorAllocator
{
public:
  virtual ~CollisionDetectorAllocator()
  {
  }

  virtual const std::string& getName() const = 0;

  virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const = 0;

  virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const = 0;

  virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const = 0;

  virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const = 0;
};

template <class CollisionWorldType, class CollisionRobotType, class CollisionDetectorAllocatorType>
class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
{
public:
  virtual const std::string& getName() const
  {
    return CollisionDetectorAllocatorType::NAME_;
  }

  virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const
  {
    return CollisionWorldPtr(new CollisionWorldType(world));
  }

  virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const
  {
    return CollisionWorldPtr(new CollisionWorldType(dynamic_cast<const CollisionWorldType&>(*orig), world));
  }

  virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const
  {
    return CollisionRobotPtr(new CollisionRobotType(robot_model));
  }

  virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const
  {
    return CollisionRobotPtr(new CollisionRobotType(dynamic_cast<const CollisionRobotType&>(*orig)));
  }

  static CollisionDetectorAllocatorPtr create()
  {
    return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType());
  }
};
}

#endif