collision_robot_allvalid.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
00038 #define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
00039 
00040 #include <moveit/collision_detection/collision_robot.h>
00041 
00042 namespace collision_detection
00043 {
00044 
00045 class CollisionRobotAllValid : public CollisionRobot
00046 {
00047 public:
00048 
00049   CollisionRobotAllValid(const robot_model::RobotModelConstPtr &kmodel, double padding = 0.0, double scale = 1.0);
00050   CollisionRobotAllValid(const CollisionRobot &other);
00051 
00052   virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const;
00053   virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00054   virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const;
00055   virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const;
00056 
00057   virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
00058                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const;
00059   virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state,
00060                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state,
00061                                    const AllowedCollisionMatrix &acm) const;
00062   virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2,
00063                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2) const;
00064   virtual void checkOtherCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2,
00065                                    const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2,
00066                                    const AllowedCollisionMatrix &acm) const;
00067 
00068   virtual double distanceSelf(const robot_state::RobotState &state) const;
00069   virtual double distanceSelf(const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00070 
00071   virtual double distanceOther(const robot_state::RobotState &state,
00072                                const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const;
00073   virtual double distanceOther(const robot_state::RobotState &state, const CollisionRobot &other_robot,
00074                                const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const;
00075 
00076 };
00077 
00078 }
00079 
00080 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52