allowed_collision_matrix.h

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#ifndef TESSERACT_COMMON_ALLOWED_COLLISION_MATRIX_H
#define TESSERACT_COMMON_ALLOWED_COLLISION_MATRIX_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <string>
#include <memory>
#include <Eigen/Core>
#include <unordered_map>
#include <tesseract_common/types.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_common
{
struct Serialization;
 
using AllowedCollisionEntries =
    std::unordered_map<tesseract_common::LinkNamesPair, std::string, tesseract_common::PairHash>;
 
bool operator==(const AllowedCollisionEntries& entries_1, const AllowedCollisionEntries& entries_2);
 
class AllowedCollisionMatrix
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<AllowedCollisionMatrix>;
  using ConstPtr = std::shared_ptr<const AllowedCollisionMatrix>;
 
  AllowedCollisionMatrix() = default;
  AllowedCollisionMatrix(const AllowedCollisionEntries& entries);
  virtual ~AllowedCollisionMatrix() = default;
  AllowedCollisionMatrix(const AllowedCollisionMatrix&) = default;
  AllowedCollisionMatrix& operator=(const AllowedCollisionMatrix&) = default;
  AllowedCollisionMatrix(AllowedCollisionMatrix&&) = default;
  AllowedCollisionMatrix& operator=(AllowedCollisionMatrix&&) = default;
 
  virtual void addAllowedCollision(const std::string& link_name1,
                                   const std::string& link_name2,
                                   const std::string& reason);
 
  const AllowedCollisionEntries& getAllAllowedCollisions() const;
 
  virtual void removeAllowedCollision(const std::string& link_name1, const std::string& link_name2);
 
  virtual void removeAllowedCollision(const std::string& link_name);
 
  virtual bool isCollisionAllowed(const std::string& link_name1, const std::string& link_name2) const;
 
  void clearAllowedCollisions();
 
  void insertAllowedCollisionMatrix(const AllowedCollisionMatrix& acm);
 
  void reserveAllowedCollisionMatrix(std::size_t size);
 
  bool operator==(const AllowedCollisionMatrix& rhs) const;
  bool operator!=(const AllowedCollisionMatrix& rhs) const;
 
private:
  AllowedCollisionEntries lookup_table_;
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
std::ostream& operator<<(std::ostream& os, const AllowedCollisionMatrix& acm);
}  // namespace tesseract_common
 
BOOST_CLASS_EXPORT_KEY(tesseract_common::AllowedCollisionMatrix)
 
#endif  // TESSERACT_SCENE_GRAPH_ALLOWED_COLLISION_MATRIX_H