35 #ifndef MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H 36 #define MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H 63 bool activate(
const std::string& name,
const planning_scene::PlanningScenePtr& scene,
bool exclusive);
72 #endif // MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
bool activate(const std::string &name, const planning_scene::PlanningScenePtr &scene, bool exclusive)
Load a collision detection robot/world into a planning scene instance.
void setupScene(ros::NodeHandle &nh, const planning_scene::PlanningScenePtr &scene)
This can be called on a new planning scene to setup the collision detector.
CollisionPluginLoaderImplPtr loader_
This is used to load the collision plugin.
MOVEIT_CLASS_FORWARD(CollisionPluginLoaderImpl)