collision_world_fcl.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
00038 #define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
00039 
00040 #include <moveit/collision_detection_fcl/collision_robot_fcl.h>
00041 #include <fcl/broadphase/broadphase.h>
00042 #include <boost/scoped_ptr.hpp>
00043 
00044 namespace collision_detection
00045 {
00046 
00047   class CollisionWorldFCL : public CollisionWorld
00048   {
00049   public:
00050 
00051     CollisionWorldFCL();
00052     explicit CollisionWorldFCL(const WorldPtr& world);
00053     CollisionWorldFCL(const CollisionWorldFCL &other, const WorldPtr& world);
00054     virtual ~CollisionWorldFCL();
00055 
00056 
00057     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const;
00058     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00059     virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const;
00060     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;
00061     virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const;
00062     virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const;
00063 
00064     virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state) const;
00065     virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const;
00066     virtual double distanceWorld(const CollisionWorld &world) const;
00067     virtual double distanceWorld(const CollisionWorld &world, const AllowedCollisionMatrix &acm) const;
00068 
00069     virtual void setWorld(const WorldPtr& world);
00070 
00071   protected:
00072 
00073     void checkWorldCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const;
00074     void checkRobotCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
00075     double distanceRobotHelper(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const;
00076     double distanceWorldHelper(const CollisionWorld &world, const AllowedCollisionMatrix *acm) const;
00077 
00078     void constructFCLObject(const World::Object *obj, FCLObject &fcl_obj) const;
00079     void updateFCLObject(const std::string &id);
00080 
00081 
00082     boost::scoped_ptr<fcl::BroadPhaseCollisionManager> manager_;
00083     std::map<std::string, FCLObject >                  fcl_objs_;
00084 
00085   private:
00086     void initialize();
00087     void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
00088     World::ObserverHandle observer_handle_;
00089   };
00090 
00091 }
00092 
00093 #endif


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