collision_detection::CollisionPlugin Class Reference

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. More...
virtual	~CollisionPlugin ()

Detailed Description

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.

Constructor & Destructor Documentation

collision_detection::CollisionPlugin::CollisionPlugin ( )

inline

Definition at line 83 of file collision_plugin.h.

virtual collision_detection::CollisionPlugin::~CollisionPlugin ( )

inlinevirtual

Definition at line 86 of file collision_plugin.h.

Member Function Documentation

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.

---

The documentation for this class was generated from the following file:

• collision_plugin.h