collision_env.h

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/* Author: Ioan Sucan, Jens Petit */
 
#pragma once
 
#include <moveit/collision_detection/collision_matrix.h>
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/msg/link_padding.hpp>
#include <moveit_msgs/msg/link_scale.hpp>
#include <moveit/collision_detection/world.h>
 
namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionEnv);  // Defines CollisionEnvPtr, ConstPtr, WeakPtr... etc
 
class CollisionEnv
{
public:
  CollisionEnv() = delete;
 
  CollisionEnv(const moveit::core::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
 
  CollisionEnv(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
               double scale = 1.0);
 
  CollisionEnv(const CollisionEnv& other, const WorldPtr& world);
 
  virtual ~CollisionEnv()
  {
  }
 
  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const moveit::core::RobotState& state) const = 0;
 
  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                  const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
 
  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res,
                              const moveit::core::RobotState& state) const;
 
  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                              const AllowedCollisionMatrix& acm) const;
 
  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                   const moveit::core::RobotState& state) const = 0;
 
  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                   const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
 
  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                   const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                   const AllowedCollisionMatrix& acm) const = 0;
 
  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                   const moveit::core::RobotState& state1,
                                   const moveit::core::RobotState& state2) const = 0;
 
  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                            const moveit::core::RobotState& state) const = 0;
 
  inline double distanceSelf(const moveit::core::RobotState& state) const
  {
    DistanceRequest req;
    DistanceResult res;
 
    req.enableGroup(getRobotModel());
    distanceSelf(req, res, state);
    return res.minimum_distance.distance;
  }
 
  inline double distanceSelf(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const
  {
    DistanceRequest req;
    DistanceResult res;
 
    req.enableGroup(getRobotModel());
    req.acm = &acm;
    distanceSelf(req, res, state);
    return res.minimum_distance.distance;
  }
 
  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
                             const moveit::core::RobotState& state) const = 0;
 
  inline double distanceRobot(const moveit::core::RobotState& state, bool verbose = false) const
  {
    DistanceRequest req;
    DistanceResult res;
 
    req.verbose = verbose;
    req.enableGroup(getRobotModel());
 
    distanceRobot(req, res, state);
    return res.minimum_distance.distance;
  }
 
  inline double distanceRobot(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
                              bool verbose = false) const
  {
    DistanceRequest req;
    DistanceResult res;
 
    req.acm = &acm;
    req.verbose = verbose;
    req.enableGroup(getRobotModel());
 
    distanceRobot(req, res, state);
    return res.minimum_distance.distance;
  }
 
  virtual void setWorld(const WorldPtr& world);
 
  const WorldPtr& getWorld()
  {
    return world_;
  }
 
  const WorldConstPtr& getWorld() const
  {
    return world_const_;
  }
 
  using ObjectPtr = World::ObjectPtr;
  using ObjectConstPtr = World::ObjectConstPtr;
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  void setLinkPadding(const std::string& link_name, double padding);
 
  double getLinkPadding(const std::string& link_name) const;
 
  void setLinkPadding(const std::map<std::string, double>& padding);
 
  const std::map<std::string, double>& getLinkPadding() const;
 
  void setLinkScale(const std::string& link_name, double scale);
 
  double getLinkScale(const std::string& link_name) const;
 
  void setLinkScale(const std::map<std::string, double>& scale);
 
  const std::map<std::string, double>& getLinkScale() const;
 
  void setPadding(double padding);
 
  void setScale(double scale);
 
  void setPadding(const std::vector<moveit_msgs::msg::LinkPadding>& padding);
 
  void getPadding(std::vector<moveit_msgs::msg::LinkPadding>& padding) const;
 
  void setScale(const std::vector<moveit_msgs::msg::LinkScale>& scale);
 
  void getScale(std::vector<moveit_msgs::msg::LinkScale>& scale) const;
 
protected:
  virtual void updatedPaddingOrScaling(const std::vector<std::string>& links);
 
  moveit::core::RobotModelConstPtr robot_model_;
 
  std::map<std::string, double> link_padding_;
 
  std::map<std::string, double> link_scale_;
 
private:
  WorldPtr world_;             // The world always valid, never nullptr.
  WorldConstPtr world_const_;  // always same as world_
};
}  // namespace collision_detection