collision_plugin_loader.h
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00034 
00035 #ifndef MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
00036 #define MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
00037 
00038 #include <ros/ros.h>
00039 #include <moveit/macros/class_forward.h>
00040 #include <moveit/collision_detection/collision_plugin.h>
00041 
00042 namespace collision_detection
00043 {
00047 class CollisionPluginLoader
00048 {
00049 public:
00050   CollisionPluginLoader();
00051   ~CollisionPluginLoader();
00052 
00054   void setupScene(ros::NodeHandle& nh, const planning_scene::PlanningScenePtr& scene);
00055 
00063   bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene, bool exclusive);
00064 
00065 private:
00066   MOVEIT_CLASS_FORWARD(CollisionPluginLoaderImpl);
00067   CollisionPluginLoaderImplPtr loader_;
00068 };
00069 
00070 }  // namespace collision_detection
00071 
00072 #endif  // MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:21:19