contact_allowed_validator.h

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#ifndef TESSERACT_COMMON_CONTACT_ALLOWED_VALIDATOR_H
#define TESSERACT_COMMON_CONTACT_ALLOWED_VALIDATOR_H
 
#include <string>
#include <memory>
#include <vector>
 
#include <tesseract_common/allowed_collision_matrix.h>
 
namespace tesseract_common
{
class ContactAllowedValidator
{
public:
  using Ptr = std::shared_ptr<ContactAllowedValidator>;
  using ConstPtr = std::shared_ptr<const ContactAllowedValidator>;
  using UPtr = std::unique_ptr<ContactAllowedValidator>;
  using ConstUPtr = std::unique_ptr<const ContactAllowedValidator>;
 
  virtual ~ContactAllowedValidator() = default;
 
  virtual bool operator()(const std::string&, const std::string&) const = 0;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
class ACMContactAllowedValidator : public ContactAllowedValidator
{
public:
  using Ptr = std::shared_ptr<ACMContactAllowedValidator>;
  using ConstPtr = std::shared_ptr<const ACMContactAllowedValidator>;
  using UPtr = std::unique_ptr<ACMContactAllowedValidator>;
  using ConstUPtr = std::unique_ptr<const ACMContactAllowedValidator>;
 
  ACMContactAllowedValidator() = default;  // Required for serialization
  ACMContactAllowedValidator(tesseract_common::AllowedCollisionMatrix acm);
 
  bool operator()(const std::string& link_name1, const std::string& link_name2) const override;
 
protected:
  tesseract_common::AllowedCollisionMatrix acm_;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
enum class CombinedContactAllowedValidatorType : std::uint8_t
{
  AND,
  OR,
};
 
class CombinedContactAllowedValidator : public ContactAllowedValidator
{
public:
  using Ptr = std::shared_ptr<CombinedContactAllowedValidator>;
  using ConstPtr = std::shared_ptr<const CombinedContactAllowedValidator>;
  using UPtr = std::unique_ptr<CombinedContactAllowedValidator>;
  using ConstUPtr = std::unique_ptr<const CombinedContactAllowedValidator>;
 
  CombinedContactAllowedValidator() = default;  // Required for serialization
  CombinedContactAllowedValidator(std::vector<std::shared_ptr<const ContactAllowedValidator>> validators,
                                  CombinedContactAllowedValidatorType type);
 
  bool operator()(const std::string& link_name1, const std::string& link_name2) const override;
 
protected:
  std::vector<std::shared_ptr<const ContactAllowedValidator>> validators_;
  CombinedContactAllowedValidatorType type_{ CombinedContactAllowedValidatorType::OR };
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
}  // namespace tesseract_common
 
BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_common::ContactAllowedValidator)
BOOST_CLASS_EXPORT_KEY(tesseract_common::ACMContactAllowedValidator)
BOOST_CLASS_EXPORT_KEY(tesseract_common::CombinedContactAllowedValidator)
 
#endif  // TESSERACT_COMMON_CONTACT_ALLOWED_VALIDATOR_H