collision_detector_allocator.h

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/* Author: Acorn Pooley, Ioan Sucan */
 
#pragma once
 
#include <moveit/collision_detection/collision_env.h>
#include <moveit/macros/class_forward.h>
 
namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionDetectorAllocator);  // Defines CollisionDetectorAllocatorPtr, ConstPtr, WeakPtr... etc
 
class CollisionDetectorAllocator
{
public:
  virtual ~CollisionDetectorAllocator()
  {
  }
 
  virtual const std::string& getName() const = 0;
 
  virtual CollisionEnvPtr allocateEnv(const WorldPtr& world,
                                      const moveit::core::RobotModelConstPtr& robot_model) const = 0;
 
  virtual CollisionEnvPtr allocateEnv(const CollisionEnvConstPtr& orig, const WorldPtr& world) const = 0;
 
  virtual CollisionEnvPtr allocateEnv(const moveit::core::RobotModelConstPtr& robot_model) const = 0;
};
 
template <class CollisionEnvType, class CollisionDetectorAllocatorType>
class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
{
public:
  const std::string& getName() const override
  {
    return CollisionDetectorAllocatorType::NAME;
  }
 
  CollisionEnvPtr allocateEnv(const WorldPtr& world, const moveit::core::RobotModelConstPtr& robot_model) const override
  {
    return std::make_shared<CollisionEnvType>(robot_model, world);
  }
 
  CollisionEnvPtr allocateEnv(const CollisionEnvConstPtr& orig, const WorldPtr& world) const override
  {
    return std::make_shared<CollisionEnvType>(dynamic_cast<const CollisionEnvType&>(*orig), world);
  }
 
  CollisionEnvPtr allocateEnv(const moveit::core::RobotModelConstPtr& robot_model) const override
  {
    return std::make_shared<CollisionEnvType>(robot_model);
  }
 
  static CollisionDetectorAllocatorPtr create()
  {
    return std::make_shared<CollisionDetectorAllocatorType>();
  }
};
}  // namespace collision_detection