CollisionDetectionValidityMethod.h

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#ifndef PMPL_COLLISION_DETECTOR_VALIDITY_METHOD_H_
#define PMPL_COLLISION_DETECTOR_VALIDITY_METHOD_H_
 
#include "MPLibrary/ValidityCheckers/ValidityCheckerMethod.h"
 
#include "Geometry/Bodies/Body.h"
#include "Geometry/Bodies/MultiBody.h"
#include "MPProblem/Environment/Environment.h"
 
#include "MPLibrary/ValidityCheckers/CollisionDetection/CDInfo.h"
 
#include "nonstd/io.h"
 
#include <algorithm>
 
 
class CollisionDetectionValidityMethod : public ValidityCheckerMethod {
 
  public:
 
 
    typedef typename ValidityCheckerMethod::GroupCfgType GroupCfg;
 
 
    CollisionDetectionValidityMethod() = default;
 
    CollisionDetectionValidityMethod(XMLNode& _node) 
      : ValidityCheckerMethod(_node) {}
 
    virtual ~CollisionDetectionValidityMethod() = default;
 
 
    virtual CollisionDetectionMethod* GetCDMethod() const noexcept 
      {return nullptr;};
 
    virtual bool IsInsideObstacle(const Point3d& _p) = 0;
 
    virtual bool IsInsideObstacle(const Point3d& _p, vector<size_t>* _obstIdxs) = 0;
 
    virtual bool WorkspaceVisibility(const Point3d& _a, const Point3d& _b) = 0;
 
    virtual bool IsMultiBodyCollision(CDInfo& _cdInfo, const MultiBody* const _a,
        const MultiBody* const _b, const std::string& _caller) = 0;
 
};
 
#endif