collision_matrix.h

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/* Author: Ioan Sucan, E. Gil Jones */
 
#pragma once
 
#include <moveit/collision_detection/collision_common.h>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/msg/allowed_collision_matrix.hpp>
#include <iostream>
#include <vector>
#include <string>
#include <map>
 
namespace collision_detection
{
namespace AllowedCollision
{
enum Type
{
  NEVER,
 
  ALWAYS,
 
  CONDITIONAL
};
}  // namespace AllowedCollision
 
using DecideContactFn = std::function<bool(collision_detection::Contact&)>;
 
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix);  // Defines AllowedCollisionMatrixPtr, ConstPtr, WeakPtr... etc
 
class AllowedCollisionMatrix
{
public:
  AllowedCollisionMatrix();
 
  AllowedCollisionMatrix(const std::vector<std::string>& names, bool allowed = false);
 
  AllowedCollisionMatrix(const srdf::Model& srdf);
 
  AllowedCollisionMatrix(const moveit_msgs::msg::AllowedCollisionMatrix& msg);
 
  AllowedCollisionMatrix(const AllowedCollisionMatrix& acm) = default;
 
  AllowedCollisionMatrix& operator=(const AllowedCollisionMatrix&) = default;
 
  bool getEntry(const std::string& name1, const std::string& name2,
                AllowedCollision::Type& allowed_collision_type) const;
 
  bool getEntry(const std::string& name1, const std::string& name2, DecideContactFn& fn) const;
 
  bool hasEntry(const std::string& name) const;
 
  bool hasEntry(const std::string& name1, const std::string& name2) const;
 
  void removeEntry(const std::string& name1, const std::string& name2);
 
  void removeEntry(const std::string& name);
 
  void setEntry(const std::string& name1, const std::string& name2, bool allowed);
 
  void setEntry(const std::string& name1, const std::string& name2, DecideContactFn& fn);
 
  void setEntry(const std::string& name, bool allowed);
 
  void setEntry(const std::string& name, const std::vector<std::string>& other_names, bool allowed);
 
  void setEntry(const std::vector<std::string>& names1, const std::vector<std::string>& names2, bool allowed);
 
  void setEntry(bool allowed);
 
  void getAllEntryNames(std::vector<std::string>& names) const;
 
  void getMessage(moveit_msgs::msg::AllowedCollisionMatrix& msg) const;
 
  void clear();
 
  std::size_t getSize() const
  {
    return entries_.size();
  }
 
  void setDefaultEntry(const std::string& name, bool allowed);
 
  void setDefaultEntry(const std::string& name, DecideContactFn& fn);
 
  bool getDefaultEntry(const std::string& name, AllowedCollision::Type& allowed_collision) const;
 
  bool getDefaultEntry(const std::string& name, DecideContactFn& fn) const;
 
  bool getAllowedCollision(const std::string& name1, const std::string& name2, DecideContactFn& fn) const;
 
  bool getAllowedCollision(const std::string& name1, const std::string& name2,
                           AllowedCollision::Type& allowed_collision) const;
 
  void print(std::ostream& out) const;
 
private:
  bool getDefaultEntry(const std::string& name1, const std::string& name2,
                       AllowedCollision::Type& allowed_collision) const;
 
  std::map<std::string, std::map<std::string, AllowedCollision::Type> > entries_;
  std::map<std::string, std::map<std::string, DecideContactFn> > allowed_contacts_;
 
  std::map<std::string, AllowedCollision::Type> default_entries_;
  std::map<std::string, DecideContactFn> default_allowed_contacts_;
};
}  // namespace collision_detection