collision_detector_allocator.h
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34 
35 /* Author: Acorn Pooley, Ioan Sucan */
36 
37 #pragma once
38 
41 
42 namespace collision_detection
43 {
44 MOVEIT_CLASS_FORWARD(CollisionDetectorAllocator); // Defines CollisionDetectorAllocatorPtr, ConstPtr, WeakPtr... etc
45 
47 class CollisionDetectorAllocator
48 {
49 public:
51  {
52  }
53 
55  virtual const std::string& getName() const = 0;
56 
58  virtual CollisionEnvPtr allocateEnv(const WorldPtr& world,
59  const moveit::core::RobotModelConstPtr& robot_model) const = 0;
60 
64  virtual CollisionEnvPtr allocateEnv(const CollisionEnvConstPtr& orig, const WorldPtr& world) const = 0;
65 
67  virtual CollisionEnvPtr allocateEnv(const moveit::core::RobotModelConstPtr& robot_model) const = 0;
68 };
69 
71 template <class CollisionEnvType, class CollisionDetectorAllocatorType>
72 class CollisionDetectorAllocatorTemplate : public CollisionDetectorAllocator
73 {
74 public:
75  const std::string& getName() const override
76  {
77  return CollisionDetectorAllocatorType::NAME;
78  }
79 
80  CollisionEnvPtr allocateEnv(const WorldPtr& world, const moveit::core::RobotModelConstPtr& robot_model) const override
81  {
82  return CollisionEnvPtr(new CollisionEnvType(robot_model, world));
83  }
84 
85  CollisionEnvPtr allocateEnv(const CollisionEnvConstPtr& orig, const WorldPtr& world) const override
86  {
87  return CollisionEnvPtr(new CollisionEnvType(dynamic_cast<const CollisionEnvType&>(*orig), world));
88  }
89 
90  CollisionEnvPtr allocateEnv(const moveit::core::RobotModelConstPtr& robot_model) const override
91  {
92  return CollisionEnvPtr(new CollisionEnvType(robot_model));
93  }
94 
96  static CollisionDetectorAllocatorPtr create()
97  {
98  return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType());
99  }
100 };
101 } // namespace collision_detection
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:81
collision_detection::CollisionDetectorAllocator::~CollisionDetectorAllocator
virtual ~CollisionDetectorAllocator()
Definition: collision_detector_allocator.h:82
collision_detection::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix)
collision_detection::CollisionDetectorAllocator::getName
virtual const std::string & getName() const =0
class_forward.h
collision_env.h
collision_detection::CollisionDetectorAllocatorTemplate::allocateEnv
CollisionEnvPtr allocateEnv(const WorldPtr &world, const moveit::core::RobotModelConstPtr &robot_model) const override
Definition: collision_detector_allocator.h:112
collision_detection::CollisionDetectorAllocatorTemplate::create
static CollisionDetectorAllocatorPtr create()
Definition: collision_detector_allocator.h:128
collision_detection::CollisionDetectorAllocator::allocateEnv
virtual CollisionEnvPtr allocateEnv(const WorldPtr &world, const moveit::core::RobotModelConstPtr &robot_model) const =0
collision_detection::CollisionDetectorAllocatorTemplate::getName
const std::string & getName() const override
Definition: collision_detector_allocator.h:107
collision_detection
Definition: collision_detector_allocator_allvalid.h:42


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Nov 24 2020 03:26:39