collisiondetectors/CD_BasicStyle.h

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#ifndef CD_BasicStyle_h
#define CD_BasicStyle_h 1

#pragma warning( disable : 4786 )

#include "CollisionDetectors\CD_Linear.h"
#include "CollisionDetectors\CD_JointLimits.h"
#include "Kinematics\DH_Link.h"
#include <map>
#include "math\PairInt.h"
#include <vector>

class FrameManager;
class RobotBase;
class Universe;

class CD_BasicStyle 
: 
        virtual public CD_Linear,
    virtual public CD_JointLimits
{
  public:
    //## Constructors (specified)
      //## Operation: CD_BasicStyle%928344297
      CD_BasicStyle (const Universe& universe);

      //## Operation: CD_BasicStyle%928344299
      CD_BasicStyle (const CD_BasicStyle& right);

    //## Destructor (generated)
      virtual ~CD_BasicStyle();

          //allows access to the frame manager
          FrameManager* GetFrameManager();

    //## Other Operations (specified)
      //## Operation: SetConfiguration%928373070
      virtual bool SetConfiguration (const Configuration& config);

          //returns the type of the joint
          virtual DH_Parameter JointType( const unsigned int jointNum ) const;

          // returns the frame number associated with given joint
          virtual unsigned int JointFrameNum ( const unsigned int jointNum ) const;

      //## Operation: JointMin%928263330
      virtual double JointMin (const unsigned int jointNum) const;

      //## Operation: JointWraps%928263335
      virtual bool JointWraps (const unsigned int jointNum) const;

      //## Operation: JointMax%928263329
      virtual double JointMax (const unsigned int jointNum) const;

      //## Operation: Clone%930364108
      //        this virtual function provides a copy of the object
      virtual CollisionDetectorBase* Clone () const = 0;

      //## Operation: ShouldPerformCollisionCheck%928344291
      virtual bool ShouldPerformCollisionCheck (unsigned int frameA, unsigned int frameB) const;

      //## Operation: DOF%930942582
      virtual unsigned int DOF () const;

      //## Operation: DeactivateFrames%931291663
      //        deactivates a pair of frames from collision checking
      virtual void DeactivateFrames (const unsigned int frame1, const unsigned int frame2);

      //## Operation: ActivateFrames%931291664
      //        activates a pair of frames for the collision checking
      virtual void ActivateFrames (const unsigned int frame1, const unsigned int frame2);

      //## Operation: PermDeactivateFrames%931892328
      //        deactivates a pair of frames from collision checking
      virtual void PermDeactivateFrames (const unsigned int frame1, const unsigned int frame2);

      //## Operation: PermActivateFrames%931892329
      //        activates a pair of frames for the collision checking
      virtual void PermActivateFrames (const unsigned int frame1, const unsigned int frame2);

      //## Operation: FramePairPermEnabled%931892330
      bool FramePairPermEnabled (const unsigned int frame1, const unsigned int frame2) const;

      //## Operation: DeactivateAllFrames%940546750
      void DeactivateAllFrames ();
      
      std::vector<Entity*> GetAllElements() const;
      std::vector<LinkBase*> GetAllLinks() const;
      RobotBase* GetRobot( const int index ) const;
  protected:
      virtual void PermActivateAll ();
      virtual void PermDeactivateFramesWithThemselves ();
      virtual void PermDeactivateAll ();
      std::map< PairInt, bool > collisionMatrix;
      std::map< PairInt, bool > permCollisionMatrix;
      std::vector<Entity*> entities;
      std::vector<LinkBase*> links;
      FrameManager theFrameManager;

  private:
};
#endif

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