collision_env_allvalid.cpp

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/* Author: Ioan Sucan, Jia Pan, Jens Petit */
 
#include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
#include <moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
 
// Logger
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_collision_detection.collision_world_allvalid");
 
const std::string collision_detection::CollisionDetectorAllocatorAllValid::NAME("ALL_VALID");
 
collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model,
                                                                double padding, double scale)
  : CollisionEnv(robot_model, padding, scale)
{
}
 
collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model,
                                                                const WorldPtr& world, double padding, double scale)
  : CollisionEnv(robot_model, world, padding, scale)
{
}
 
collision_detection::CollisionEnvAllValid::CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world)
  : CollisionEnv(other, world)
{
}
 
void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                                                    const moveit::core::RobotState& /*state*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(LOGGER, "Using AllValid collision detection. No collision checking is performed.");
}
 
void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                                                    const moveit::core::RobotState& /*state*/,
                                                                    const AllowedCollisionMatrix& /*acm*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(LOGGER, "Using AllValid collision detection. No collision checking is performed.");
}
 
void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                                                    const moveit::core::RobotState& /*state1*/,
                                                                    const moveit::core::RobotState& /*state2*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(LOGGER, "Using AllValid collision detection. No collision checking is performed.");
}
 
void collision_detection::CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                                                    const moveit::core::RobotState& /*state1*/,
                                                                    const moveit::core::RobotState& /*state2*/,
                                                                    const AllowedCollisionMatrix& /*acm*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(LOGGER, "Using AllValid collision detection. No collision checking is performed.");
}
 
void collision_detection::CollisionEnvAllValid::distanceRobot(const collision_detection::DistanceRequest& /*req*/,
                                                              collision_detection::DistanceResult& res,
                                                              const moveit::core::RobotState& /*state*/) const
{
  res.collision = false;
}
 
double collision_detection::CollisionEnvAllValid::distanceRobot(const moveit::core::RobotState& /*state*/) const
{
  return 0.0;
}
 
double collision_detection::CollisionEnvAllValid::distanceRobot(const moveit::core::RobotState& /*state*/,
                                                                const AllowedCollisionMatrix& /*acm*/) const
{
  return 0.0;
}
 
void collision_detection::CollisionEnvAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                                                   const moveit::core::RobotState& /*state*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(LOGGER, "Using AllValid collision detection. No collision checking is performed.");
}
 
void collision_detection::CollisionEnvAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                                                   const moveit::core::RobotState& /*state*/,
                                                                   const AllowedCollisionMatrix& /*acm*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(LOGGER, "Using AllValid collision detection. No collision checking is performed.");
}
 
void collision_detection::CollisionEnvAllValid::distanceSelf(const collision_detection::DistanceRequest& /*req*/,
                                                             collision_detection::DistanceResult& res,
                                                             const moveit::core::RobotState& /*state*/) const
{
  res.collision = false;
}