collision_plugin.h

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#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H
#define MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H

#include <moveit/macros/class_forward.h>
#include <moveit/collision_detection/collision_robot.h>
#include <moveit/collision_detection/collision_world.h>
#include <moveit/planning_scene/planning_scene.h>

namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionPlugin);

class CollisionPlugin
{
public:
  CollisionPlugin()
  {
  }
  virtual ~CollisionPlugin()
  {
  }

  virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const = 0;
};

}  // namespace collision_detection

#endif  // MOVEIT_COLLISION_DETECTION_COLLISION_PLUGIN_H