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>
#include <moveit/utils/logger.hpp>
 
namespace collision_detection
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("collision_detection.world_allvalid");
}
}  // namespace
 
const std::string CollisionDetectorAllocatorAllValid::NAME("ALL_VALID");
 
CollisionEnvAllValid::CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, double padding,
                                           double scale)
  : CollisionEnv(robot_model, padding, scale)
{
}
 
CollisionEnvAllValid::CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world,
                                           double padding, double scale)
  : CollisionEnv(robot_model, world, padding, scale)
{
}
 
CollisionEnvAllValid::CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world)
  : CollisionEnv(other, world)
{
}
 
void CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                               const moveit::core::RobotState& /*state*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(getLogger(), "Using AllValid collision detection. No collision checking is performed.");
}
 
void CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                                               const moveit::core::RobotState& /*state*/,
                                               const AllowedCollisionMatrix& /*acm*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(getLogger(), "Using AllValid collision detection. No collision checking is performed.");
}
 
void 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(getLogger(), "Using AllValid collision detection. No collision checking is performed.");
}
 
void 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(getLogger(), "Using AllValid collision detection. No collision checking is performed.");
}
 
void CollisionEnvAllValid::distanceRobot(const DistanceRequest& /*req*/, DistanceResult& res,
                                         const moveit::core::RobotState& /*state*/) const
{
  res.collision = false;
}
 
double CollisionEnvAllValid::distanceRobot(const moveit::core::RobotState& /*state*/) const
{
  return 0.0;
}
 
double CollisionEnvAllValid::distanceRobot(const moveit::core::RobotState& /*state*/,
                                           const AllowedCollisionMatrix& /*acm*/) const
{
  return 0.0;
}
 
void CollisionEnvAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                              const moveit::core::RobotState& /*state*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(getLogger(), "Using AllValid collision detection. No collision checking is performed.");
}
 
void CollisionEnvAllValid::checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                                              const moveit::core::RobotState& /*state*/,
                                              const AllowedCollisionMatrix& /*acm*/) const
{
  res.collision = false;
  if (req.verbose)
    RCLCPP_INFO(getLogger(), "Using AllValid collision detection. No collision checking is performed.");
}
 
void CollisionEnvAllValid::distanceSelf(const DistanceRequest& /*req*/, DistanceResult& res,
                                        const moveit::core::RobotState& /*state*/) const
{
  res.collision = false;
}
 
}  // namespace collision_detection