CollisionFreeOutcome.hpp

Go to the documentation of this file.

#ifndef AIKIDO_CONSTRAINT_DART_COLLISIONFREEOUTCOME_HPP_
#define AIKIDO_CONSTRAINT_DART_COLLISIONFREEOUTCOME_HPP_
 
#include <vector>
 
#include <dart/collision/CollisionObject.hpp>
#include <dart/collision/Contact.hpp>
#include <dart/dynamics/BodyNode.hpp>
#include <dart/dynamics/ShapeFrame.hpp>
#include <dart/dynamics/ShapeNode.hpp>
 
#include "aikido/constraint/TestableOutcome.hpp"
 
namespace aikido {
namespace constraint {
namespace dart {
 
class CollisionFreeOutcome : public TestableOutcome
{
  friend class CollisionFree;
 
public:
  bool isSatisfied() const override;
 
  std::string toString() const override;
 
  void clear();
 
  std::vector<::dart::collision::Contact> getPairwiseContacts() const;
 
  std::vector<::dart::collision::Contact> getSelfContacts() const;
 
  std::string getCollisionObjectName(
      const ::dart::collision::CollisionObject* object) const;
 
protected:
  std::vector<::dart::collision::Contact> mPairwiseContacts;
 
  std::vector<::dart::collision::Contact> mSelfContacts;
};
 
} // namespace dart
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_DART_COLLISIONFREEOUTCOME_HPP_