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69 lines
2.4 KiB
69 lines
2.4 KiB
2 years ago
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#pragma once
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#include <memory>
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#include <optional>
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#include <string>
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#include <vector>
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#include "drake/planning/collision_checker.h"
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#include "drake/planning/collision_checker_params.h"
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namespace drake {
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namespace planning {
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/** A concrete collision checker implementation that throws an exception for
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every virtual function hook. This might be useful for unit testing or for
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deriving your own collision checker without providing for the full suite of
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operations. */
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class UnimplementedCollisionChecker : public CollisionChecker {
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public:
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/** Constructs a checker.
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@param supports_parallel_checking will serve as the return value of the
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CollisionChecker::SupportsParallelChecking() function. */
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UnimplementedCollisionChecker(CollisionCheckerParams params,
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bool supports_parallel_checking);
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/** @name Does not allow copy, move, or assignment. */
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/** @{ */
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// N.B. The copy constructor is protected for use in implementing Clone().
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UnimplementedCollisionChecker(UnimplementedCollisionChecker&&) = delete;
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UnimplementedCollisionChecker& operator=(
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const UnimplementedCollisionChecker&) = delete;
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UnimplementedCollisionChecker& operator=(UnimplementedCollisionChecker&&) =
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delete;
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/** @} */
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~UnimplementedCollisionChecker();
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protected:
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// To support Clone(), allow copying (but not move nor assign).
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UnimplementedCollisionChecker(const UnimplementedCollisionChecker&);
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std::unique_ptr<CollisionChecker> DoClone() const override;
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void DoUpdateContextPositions(
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CollisionCheckerContext* model_context) const override;
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bool DoCheckContextConfigCollisionFree(
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const CollisionCheckerContext&) const override;
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std::optional<geometry::GeometryId> DoAddCollisionShapeToBody(
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const std::string& group_name, const multibody::Body<double>& bodyA,
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const geometry::Shape& shape,
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const math::RigidTransform<double>& X_AG) override;
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void DoRemoveAddedGeometries(
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const std::vector<CollisionChecker::AddedShape>& shapes) override;
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RobotClearance DoCalcContextRobotClearance(const CollisionCheckerContext&,
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double) const override;
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std::vector<RobotCollisionType> DoClassifyContextBodyCollisions(
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const CollisionCheckerContext&) const override;
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int DoMaxContextNumDistances(const CollisionCheckerContext&) const override;
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};
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} // namespace planning
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} // namespace drake
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