discrete_contact_manager.h

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#ifndef TESSERACT_COLLISION_DISCRETE_CONTACT_MANAGER_H
#define TESSERACT_COLLISION_DISCRETE_CONTACT_MANAGER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_collision/core/types.h>
#include <tesseract_common/fwd.h>
 
namespace tesseract_collision
{
class DiscreteContactManager
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<DiscreteContactManager>;
  using ConstPtr = std::shared_ptr<const DiscreteContactManager>;
  using UPtr = std::unique_ptr<DiscreteContactManager>;
  using ConstUPtr = std::unique_ptr<const DiscreteContactManager>;
 
  DiscreteContactManager() = default;
  virtual ~DiscreteContactManager() = default;
  DiscreteContactManager(const DiscreteContactManager&) = delete;
  DiscreteContactManager& operator=(const DiscreteContactManager&) = delete;
  DiscreteContactManager(DiscreteContactManager&&) = delete;
  DiscreteContactManager& operator=(DiscreteContactManager&&) = delete;
 
  virtual std::string getName() const = 0;
 
  virtual DiscreteContactManager::UPtr clone() const = 0;
 
  virtual bool addCollisionObject(const std::string& name,
                                  const int& mask_id,
                                  const CollisionShapesConst& shapes,
                                  const tesseract_common::VectorIsometry3d& shape_poses,
                                  bool enabled = true) = 0;
 
  virtual const CollisionShapesConst& getCollisionObjectGeometries(const std::string& name) const = 0;
 
  virtual const tesseract_common::VectorIsometry3d&
  getCollisionObjectGeometriesTransforms(const std::string& name) const = 0;
 
  virtual bool hasCollisionObject(const std::string& name) const = 0;
 
  virtual bool removeCollisionObject(const std::string& name) = 0;
 
  virtual bool enableCollisionObject(const std::string& name) = 0;
 
  virtual bool disableCollisionObject(const std::string& name) = 0;
 
  virtual bool isCollisionObjectEnabled(const std::string& name) const = 0;
 
  virtual void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose) = 0;
 
  virtual void setCollisionObjectsTransform(const std::vector<std::string>& names,
                                            const tesseract_common::VectorIsometry3d& poses) = 0;
 
  virtual void setCollisionObjectsTransform(const tesseract_common::TransformMap& transforms) = 0;
 
  virtual const std::vector<std::string>& getCollisionObjects() const = 0;
 
  virtual void setActiveCollisionObjects(const std::vector<std::string>& names) = 0;
 
  virtual const std::vector<std::string>& getActiveCollisionObjects() const = 0;
 
  virtual void setCollisionMarginData(CollisionMarginData collision_margin_data) = 0;
 
  virtual const CollisionMarginData& getCollisionMarginData() const = 0;
 
  virtual void setCollisionMarginPairData(
      const CollisionMarginPairData& pair_margin_data,
      CollisionMarginPairOverrideType override_type = CollisionMarginPairOverrideType::REPLACE) = 0;
 
  virtual void setDefaultCollisionMargin(double default_collision_margin) = 0;
 
  virtual void setCollisionMarginPair(const std::string& name1, const std::string& name2, double collision_margin) = 0;
 
  virtual void incrementCollisionMargin(double increment) = 0;
 
  virtual void
  setContactAllowedValidator(std::shared_ptr<const tesseract_common::ContactAllowedValidator> validator) = 0;
 
  virtual std::shared_ptr<const tesseract_common::ContactAllowedValidator> getContactAllowedValidator() const = 0;
 
  virtual void contactTest(ContactResultMap& collisions, const ContactRequest& request) = 0;
 
  virtual void applyContactManagerConfig(const ContactManagerConfig& config);
};
 
}  // namespace tesseract_collision
#endif  // TESSERACT_COLLISION_DISCRETE_CONTACT_MANAGER_H