collision_plugin.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2014 Fetch Robotics Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Fetch Robotics nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 #ifndef MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H
00036 #define MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H
00037 
00038 #include <moveit/macros/class_forward.h>
00039 #include <moveit/collision_detection/collision_robot.h>
00040 #include <moveit/collision_detection/collision_world.h>
00041 #include <moveit/planning_scene/planning_scene.h>
00042 
00043 namespace collision_detection
00044 {
00045 MOVEIT_CLASS_FORWARD(CollisionPlugin);
00046 
00080 class CollisionPlugin
00081 {
00082 public:
00083   CollisionPlugin()
00084   {
00085   }
00086   virtual ~CollisionPlugin()
00087   {
00088   }
00089 
00093   virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const = 0;
00094 };
00095 
00096 }  // namespace collision_detection
00097 
00098 #endif  // MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jun 19 2019 19:23:49