collision_check_plugin.cpp
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00001 #include <vigir_footstep_planning_plugins/plugins/collision_check_plugin.h>
00002 
00003 
00004 
00005 namespace vigir_footstep_planning
00006 {
00007 CollisionCheckPlugin::CollisionCheckPlugin(const std::string& name)
00008   : Plugin(name)
00009   , collision_check_flag_(0)
00010 {
00011 }
00012 
00013 bool CollisionCheckPlugin::loadParams(const vigir_generic_params::ParameterSet& params)
00014 {
00015   if (!Plugin::loadParams(params))
00016     return false;
00017 
00018   // check if
00019   unsigned int collision_check_mask;
00020   params.getParam("collision_check/collision_check_mask", (int&)collision_check_mask);
00021   collision_check_enabled_ = this->collision_check_flag_ & collision_check_mask;
00022 
00023   return true;
00024 }
00025 
00026 bool CollisionCheckPlugin::initialize(const vigir_generic_params::ParameterSet& params)
00027 {
00028   if (!Plugin::initialize(params))
00029     return false;
00030 
00031   getParam("collision_check_flag", (int&)collision_check_flag_, -1, true);
00032 
00033   return true;
00034 }
00035 
00036 void CollisionCheckPlugin::reset()
00037 {
00038 }
00039 
00040 bool CollisionCheckPlugin::isUnique() const
00041 {
00042   return false;
00043 }
00044 
00045 bool CollisionCheckPlugin::isCollisionCheckAvailable() const
00046 {
00047   return collision_check_enabled_;
00048 }
00049 }


vigir_footstep_planning_plugins
Author(s): Alexander Stumpf
autogenerated on Sat Jul 15 2017 02:48:02