Plugin API for loading a custom collision detection robot/world. More...
#include <collision_plugin.h>
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 () |
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.
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.
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.