GCC Code Coverage Report

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2016, Open Source Robotics Foundation
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			/** @author Jia Pan */
37
38			#ifndef COAL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
39			#define COAL_BROADPHASE_BROADPHASECOLLISIONMANAGER_H
40
41			#include <set>
42			#include <vector>
43			#include <boost/function.hpp>
44
45			#include "coal/collision_object.h"
46			#include "coal/broadphase/broadphase_callbacks.h"
47
48			namespace coal {
49
50			/// @brief Base class for broad phase collision. It helps to accelerate the
51			/// collision/distance between N objects. Also support self collision, self
52			/// distance and collision/distance with another M objects.
53			class COAL_DLLAPI BroadPhaseCollisionManager {
54			public:
55			BroadPhaseCollisionManager();
56
57			virtual ~BroadPhaseCollisionManager();
58
59			/// @brief add objects to the manager
60			virtual void registerObjects(const std::vector<CollisionObject*>& other_objs);
61
62			/// @brief add one object to the manager
63			virtual void registerObject(CollisionObject* obj) = 0;
64
65			/// @brief remove one object from the manager
66			virtual void unregisterObject(CollisionObject* obj) = 0;
67
68			/// @brief initialize the manager, related with the specific type of manager
69			virtual void setup() = 0;
70
71			/// @brief update the condition of manager
72			virtual void update() = 0;
73
74			/// @brief update the manager by explicitly given the object updated
75			virtual void update(CollisionObject* updated_obj);
76
77			/// @brief update the manager by explicitly given the set of objects update
78			virtual void update(const std::vector<CollisionObject*>& updated_objs);
79
80			/// @brief clear the manager
81			virtual void clear() = 0;
82
83			/// @brief return the objects managed by the manager
84			virtual void getObjects(std::vector<CollisionObject*>& objs) const = 0;
85
86			/// @brief return the objects managed by the manager
87		✗	virtual std::vector<CollisionObject*> getObjects() const {
88		✗	std::vector<CollisionObject*> res(size());
89		✗	getObjects(res);
90		✗	return res;
91		✗	};
92
93			/// @brief perform collision test between one object and all the objects
94			/// belonging to the manager
95			virtual void collide(CollisionObject* obj,
96			CollisionCallBackBase* callback) const = 0;
97
98			/// @brief perform distance computation between one object and all the objects
99			/// belonging to the manager
100			virtual void distance(CollisionObject* obj,
101			DistanceCallBackBase* callback) const = 0;
102
103			/// @brief perform collision test for the objects belonging to the manager
104			/// (i.e., N^2 self collision)
105			virtual void collide(CollisionCallBackBase* callback) const = 0;
106
107			/// @brief perform distance test for the objects belonging to the manager
108			/// (i.e., N^2 self distance)
109			virtual void distance(DistanceCallBackBase* callback) const = 0;
110
111			/// @brief perform collision test with objects belonging to another manager
112			virtual void collide(BroadPhaseCollisionManager* other_manager,
113			CollisionCallBackBase* callback) const = 0;
114
115			/// @brief perform distance test with objects belonging to another manager
116			virtual void distance(BroadPhaseCollisionManager* other_manager,
117			DistanceCallBackBase* callback) const = 0;
118
119			/// @brief whether the manager is empty
120			virtual bool empty() const = 0;
121
122			/// @brief the number of objects managed by the manager
123			virtual size_t size() const = 0;
124
125			protected:
126			/// @brief tools help to avoid repeating collision or distance callback for
127			/// the pairs of objects tested before. It can be useful for some of the
128			/// broadphase algorithms.
129			mutable std::set<std::pair<CollisionObject*, CollisionObject*> > tested_set;
130			mutable bool enable_tested_set_;
131
132			bool inTestedSet(CollisionObject* a, CollisionObject* b) const;
133
134			void insertTestedSet(CollisionObject* a, CollisionObject* b) const;
135			};
136
137			} // namespace coal
138
139			#endif
140