utils.cpp

Go to the documentation of this file.

 
#include <tesseract_collision/core/utils.h>
 
namespace tesseract_collision
{
tesseract_common::ContactAllowedValidator::ConstPtr
combineContactAllowedValidators(tesseract_common::ContactAllowedValidator::ConstPtr original,
                                tesseract_common::ContactAllowedValidator::ConstPtr override,
                                ACMOverrideType type)
{
  switch (type)
  {
    case ACMOverrideType::NONE:
      return original;
    case ACMOverrideType::ASSIGN:
      return override;
    case ACMOverrideType::AND:
    {
      if (original == nullptr)
        return nullptr;
 
      std::vector<std::shared_ptr<const tesseract_common::ContactAllowedValidator>> validators = { original, override };
      return std::make_shared<tesseract_common::CombinedContactAllowedValidator>(
          validators, tesseract_common::CombinedContactAllowedValidatorType::AND);
    }
    case ACMOverrideType::OR:
    {
      if (original == nullptr)
        return override;
 
      std::vector<std::shared_ptr<const tesseract_common::ContactAllowedValidator>> validators = { original, override };
      return std::make_shared<tesseract_common::CombinedContactAllowedValidator>(
          validators, tesseract_common::CombinedContactAllowedValidatorType::OR);
    }
    default:            // LCOV_EXCL_LINE
      return original;  // LCOV_EXCL_LINE
  }
}
}  // namespace tesseract_collision