collision_env_fcl.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Ioan Sucan, Jens Petit */
 
#pragma once
 
#include <moveit/collision_detection/collision_env.h>
#include <moveit/collision_detection_fcl/collision_common.h>
 
#if (MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0))
#include <fcl/broadphase/broadphase_collision_manager.h>
#else
#include <fcl/broadphase/broadphase.h>
#endif
 
#include <memory>
 
namespace collision_detection
{
class CollisionEnvFCL : public CollisionEnv
{
public:
  CollisionEnvFCL() = delete;
 
  CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
 
  CollisionEnvFCL(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
                  double scale = 1.0);
 
  CollisionEnvFCL(const CollisionEnvFCL& other, const WorldPtr& world);
 
  ~CollisionEnvFCL() override;
 
  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                          const moveit::core::RobotState& state) const override;
 
  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                          const AllowedCollisionMatrix& acm) const override;
 
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                           const moveit::core::RobotState& state) const override;
 
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                           const AllowedCollisionMatrix& acm) const override;
 
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
                           const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
 
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
                           const moveit::core::RobotState& state2) const override;
 
  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                    const moveit::core::RobotState& state) const override;
 
  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
                     const moveit::core::RobotState& state) const override;
 
  void setWorld(const WorldPtr& world) override;
 
protected:
  void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
 
  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
                                const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
                                 const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
  void constructFCLObjectWorld(const World::Object* obj, FCLObject& fcl_obj) const;
 
  void updateFCLObject(const std::string& id);
 
  void constructFCLObjectRobot(const moveit::core::RobotState& state, FCLObject& fcl_obj) const;
 
  void allocSelfCollisionBroadPhase(const moveit::core::RobotState& state, FCLManager& manager) const;
 
  void getAttachedBodyObjects(const moveit::core::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;
 
  std::vector<FCLGeometryConstPtr> robot_geoms_;
 
  std::vector<FCLCollisionObjectConstPtr> robot_fcl_objs_;
 
  std::unique_ptr<fcl::BroadPhaseCollisionManagerd> manager_;
 
  std::map<std::string, FCLObject> fcl_objs_;
 
private:
  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
 
  World::ObserverHandle observer_handle_;
};
}  // namespace collision_detection