collision_world_fcl.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_

#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
#include <fcl/broadphase/broadphase.h>

namespace collision_detection
{

  class CollisionWorldFCL : public CollisionWorld
  {
  public:

    CollisionWorldFCL();
    explicit CollisionWorldFCL(const WorldPtr& world);
    CollisionWorldFCL(const CollisionWorldFCL &other, const WorldPtr& world);
    virtual ~CollisionWorldFCL();


    virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const;
    virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
    virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const;
    virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const;
    virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const;
    virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const;

    virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state) const;
    virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
    virtual double distanceWorld(const CollisionWorld &world) const;
    virtual double distanceWorld(const CollisionWorld &world, const AllowedCollisionMatrix &acm) const;

    virtual void setWorld(const WorldPtr& world);

  protected:

    void checkWorldCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const;
    void checkRobotCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
    double distanceRobotHelper(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
    double distanceWorldHelper(const CollisionWorld &world, const AllowedCollisionMatrix *acm) const;

    void constructFCLObject(const World::Object *obj, FCLObject &fcl_obj) const;
    void updateFCLObject(const std::string &id);


    boost::scoped_ptr<fcl::BroadPhaseCollisionManager> manager_;
    std::map<std::string, FCLObject >                  fcl_objs_;

  private:
    void initialize();
    void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
    World::ObserverHandle observer_handle_;
  };

}

#endif