collision_detection::CollisionPlugin Class Reference

Plugin API for loading a custom collision detection robot/world. More...

#include <collision_plugin.h>

List of all members.

Public Member Functions
	CollisionPlugin ()
virtual bool	initialize (const planning_scene::PlanningScenePtr &scene, bool exclusive) const =0
	This should be used to load your collision plugin.
virtual	~CollisionPlugin ()

---

Detailed Description

Plugin API for loading a custom collision detection robot/world.

Typical Usage:

   namespace my_collision_checker
   {

   class MyCollisionDetectorAllocator :
     public collision_detection::CollisionDetectorAllocatorTemplate<MyCollisionWorld, MyCollisionRobot,
 MyCollisionDetectorAllocator>
   {
     public:
       static const std::string NAME_;
   };

   const std::string MyCollisionDetectorAllocator::NAME_("my_checker");
   }

   namespace collision_detection
   {

   class MyCollisionDetectionLoader : public CollisionPlugin
   {
   public:
     virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const
     {
       scene->setActiveCollisionDetector(my_collision_checker::MyCollisionDetectorAllocator::create(), exclusive);
         return true;
     }
   };
 

Definition at line 80 of file collision_plugin.h.

---

Constructor & Destructor Documentation

collision_detection::CollisionPlugin::CollisionPlugin

(

)

[inline]

Definition at line 83 of file collision_plugin.h.

virtual collision_detection::CollisionPlugin::~CollisionPlugin

(

)

[inline, virtual]

Definition at line 86 of file collision_plugin.h.

---

Member Function Documentation

virtual bool collision_detection::CollisionPlugin::initialize	(	const planning_scene::PlanningScenePtr &	scene,
		bool	exclusive
	)		const [pure virtual]

This should be used to load your collision plugin.

---

The documentation for this class was generated from the following file:

• collision_plugin.h