ComposeCollision.h

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#ifndef PMPL_COMPOSE_COLLISION_H_
#define PMPL_COMPOSE_COLLISION_H_
 
#include "CollisionDetectionValidityMethod.h"
 
#include "Geometry/Bodies/Body.h"
#include "Geometry/Bodies/MultiBody.h"
#include "MPProblem/Environment/Environment.h"
 
#include "MPLibrary/ValidityCheckers/CollisionDetection/CDInfo.h"
 
 
class ComposeCollision : public CollisionDetectionValidityMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType GroupCfg;
 
    enum LogicalOperator {AND, OR}; 
 
 
    ComposeCollision();
 
    ComposeCollision(XMLNode& _node);
 
    virtual ~ComposeCollision() = default;
 
 
    virtual bool IsInsideObstacle(const Point3d& _p) override;
 
    virtual bool IsInsideObstacle(const Point3d& _p, vector<size_t>* _obstIdxs);
 
    virtual bool WorkspaceVisibility(const Point3d& _a, const Point3d& _b) override;
 
    virtual bool IsMultiBodyCollision(CDInfo& _cdInfo, const MultiBody* const _a,
        const MultiBody* const _b, const std::string& _caller) override;
 
 
  protected:
 
 
    virtual bool IsValidImpl(Cfg& _cfg, CDInfo& _cdInfo,
        const std::string& _caller) override;
 
    virtual bool IsValidImpl(GroupCfg& _cfg, CDInfo& _cdInfo,
        const std::string& _caller) override;
 
 
    LogicalOperator m_operator; 
    std::vector<std::string> m_cdLabels; 
 
};
 
#endif