Modules/CollisionDetector/CollisionDetector.h

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/** 
* @file CollisionDetector.h
*
* This file contains a generic class for collision detection.
*
* @author Daniel Göhring
*/

#ifndef __CollisionDetector_h_
#define __CollisionDetector_h_


#include "Tools/Module/Module.h"

#include "Representations/Perception/SensorDataBuffer.h"
#include "Representations/Perception/CollisionPercept.h"
#include "Representations/Motion/MotionInfo.h"

/**
* @class CollisionDetectorInterfaces
* 
* The interfaces of the CollisionDetector module.
*/
class CollisionDetectorInterfaces
{
public:
  /** Constructor. */
  CollisionDetectorInterfaces(
    const SensorDataBuffer& sensorDataBuffer,
    const MotionInfo& motionInfo,
    CollisionPercept& collisionPercept)
    : sensorDataBuffer(sensorDataBuffer),
    motionInfo(motionInfo),
    collisionPercept(collisionPercept)
  { 
  }

  /** The SensorDataBuffer */
  const SensorDataBuffer& sensorDataBuffer;

  /** The motions that are executed by the Motion process */
  const MotionInfo& motionInfo;

  /** The JointState to be generated */
  CollisionPercept& collisionPercept;
};


/**
* @class CollisionDetector 
*
* The base class for collision detectors
*
* @author Daniel Göhring
*/
class CollisionDetector : public Module, public CollisionDetectorInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the CollisionDetector module.
  */
  CollisionDetector(const CollisionDetectorInterfaces& interfaces)
    : CollisionDetectorInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~CollisionDetector() {}
};

#endif // __CollisionDetector_h_

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