contact_allowed_validator.cpp

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#include <tesseract_common/contact_allowed_validator.h>
 
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/base_object.hpp>
 
namespace tesseract_common
{
template <class Archive>
void ContactAllowedValidator::serialize(Archive& /*ar*/, const unsigned int /*version*/)
{
}
 
ACMContactAllowedValidator::ACMContactAllowedValidator(tesseract_common::AllowedCollisionMatrix acm)
  : acm_(std::move(acm))
{
}
 
bool ACMContactAllowedValidator::operator()(const std::string& link_name1, const std::string& link_name2) const
{
  return acm_.isCollisionAllowed(link_name1, link_name2);
}
 
template <class Archive>
void ACMContactAllowedValidator::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ContactAllowedValidator);
  ar& BOOST_SERIALIZATION_NVP(acm_);
}
 
CombinedContactAllowedValidator::CombinedContactAllowedValidator(
    std::vector<std::shared_ptr<const ContactAllowedValidator>> validators,
    CombinedContactAllowedValidatorType type)
  : validators_(std::move(validators)), type_(type)
{
}
 
bool CombinedContactAllowedValidator::operator()(const std::string& link_name1, const std::string& link_name2) const
{
  assert(!validators_.empty());
  if (type_ == CombinedContactAllowedValidatorType::OR)
  {
    bool value{ false };
    for (const auto& validator : validators_)
      value = value || (*validator)(link_name1, link_name2);
 
    return value;
  }
 
  bool value{ true };
  for (const auto& validator : validators_)
    value = value && (*validator)(link_name1, link_name2);
 
  return value;
}
 
template <class Archive>
void CombinedContactAllowedValidator::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ContactAllowedValidator);
  ar& BOOST_SERIALIZATION_NVP(validators_);
  ar& BOOST_SERIALIZATION_NVP(type_);
}
 
}  // namespace tesseract_common
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ContactAllowedValidator)
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ACMContactAllowedValidator)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::ACMContactAllowedValidator)
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CombinedContactAllowedValidator)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::CombinedContactAllowedValidator)