collision_world.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/collision_detection/collision_world.h>
00038 #include <geometric_shapes/shape_operations.h>
00039 
00040 collision_detection::CollisionWorld::CollisionWorld() :
00041   world_(new World()),
00042   world_const_(world_)
00043 {
00044 }
00045 
00046 collision_detection::CollisionWorld::CollisionWorld(const WorldPtr& world) :
00047   world_(world),
00048   world_const_(world)
00049 {
00050 }
00051 
00052 collision_detection::CollisionWorld::CollisionWorld(const CollisionWorld &other, const WorldPtr& world) :
00053   world_(world),
00054   world_const_(world)
00055 {
00056 }
00057 
00058 void collision_detection::CollisionWorld::checkCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const
00059 {
00060   robot.checkSelfCollision(req, res, state);
00061   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
00062     checkRobotCollision(req, res, robot, state);
00063 }
00064 
00065 void collision_detection::CollisionWorld::checkCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
00066 {
00067   robot.checkSelfCollision(req, res, state, acm);
00068   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
00069     checkRobotCollision(req, res, robot, state, acm);
00070 }
00071 
00072 void collision_detection::CollisionWorld::checkCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot,
00073                                                          const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
00074 {
00075   robot.checkSelfCollision(req, res, state1, state2);
00076   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
00077     checkRobotCollision(req, res, robot, state1, state2);
00078 }
00079 
00080 void collision_detection::CollisionWorld::checkCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot,
00081                                                          const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
00082 {
00083   robot.checkSelfCollision(req, res, state1, state2, acm);
00084   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
00085     checkRobotCollision(req, res, robot, state1, state2, acm);
00086 }
00087 
00088 void collision_detection::CollisionWorld::setWorld(const WorldPtr& world)
00089 {
00090   world_ = world;
00091   if (!world_)
00092     world_.reset(new World());
00093 
00094   world_const_ = world;
00095 }


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