collision-validation.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CORE_COLLISION_VALIDATION_HH
#define HPP_CORE_COLLISION_VALIDATION_HH
 
#include <coal/collision_data.h>
 
#include <hpp/core/collision-validation-report.hh>
#include <hpp/core/config-validation.hh>
#include <hpp/core/obstacle-user.hh>
 
namespace hpp {
namespace core {

class HPP_CORE_DLLAPI CollisionValidation : public ConfigValidation,
                                            public ObstacleUser {
 public:
  static CollisionValidationPtr_t create(const DevicePtr_t& robot);

  virtual bool validate(const Configuration_t& config,
                        ValidationReportPtr_t& validationReport);
 
  void checkParameterized(bool active) { checkParameterized_ = active; }
 
  void computeAllContacts(bool computeAllContacts) {
    computeAllContacts_ = computeAllContacts;
  }
 
  bool checkParameterized() const { return checkParameterized_; }
 
 protected:
  CollisionValidation(const DevicePtr_t& robot);
  DevicePtr_t robot_;
 
 private:
  bool checkParameterized_;
  bool computeAllContacts_;
 
};  // class ConfigValidation

}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_COLLISION_VALIDATION_HH