collision-validation.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
// This file is part of hpp-core
// hpp-core is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-core is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-core  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_CORE_COLLISION_VALIDATION_HH
# define HPP_CORE_COLLISION_VALIDATION_HH

# include <hpp/core/collision-validation-report.hh>
# include <hpp/core/config-validation.hh>
# include <hpp/core/obstacle-user.hh>
# include <hpp/fcl/collision_data.h>

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