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src
plugins
collision_check_plugin.cpp
Go to the documentation of this file.
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#include <
vigir_footstep_planning_plugins/plugins/collision_check_plugin.h
>
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namespace
vigir_footstep_planning
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{
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CollisionCheckPlugin::CollisionCheckPlugin
(
const
std::string& name)
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: Plugin(name)
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, collision_check_flag_(0)
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{
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}
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bool
CollisionCheckPlugin::loadParams
(
const
vigir_generic_params::ParameterSet& params)
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{
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if
(!Plugin::loadParams(params))
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return
false
;
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// check if
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unsigned
int
collision_check_mask;
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params.getParam(
"collision_check/collision_check_mask"
, (
int
&)collision_check_mask);
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collision_check_enabled_
= this->
collision_check_flag_
& collision_check_mask;
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return
true
;
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}
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bool
CollisionCheckPlugin::initialize
(
const
vigir_generic_params::ParameterSet& params)
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{
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if
(!Plugin::initialize(params))
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return
false
;
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getParam(
"collision_check_flag"
, (
int
&)
collision_check_flag_
, -1,
true
);
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return
true
;
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}
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void
CollisionCheckPlugin::reset
()
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{
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}
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bool
CollisionCheckPlugin::isUnique
()
const
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{
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return
false
;
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}
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bool
CollisionCheckPlugin::isCollisionCheckAvailable
()
const
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{
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return
collision_check_enabled_
;
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}
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}
collision_check_plugin.h
vigir_footstep_planning::CollisionCheckPlugin::collision_check_enabled_
bool collision_check_enabled_
Definition:
collision_check_plugin.h:77
vigir_footstep_planning::CollisionCheckPlugin::isUnique
bool isUnique() const override
Definition:
collision_check_plugin.cpp:40
vigir_footstep_planning::CollisionCheckPlugin::initialize
bool initialize(const vigir_generic_params::ParameterSet ¶ms=vigir_generic_params::ParameterSet()) override
Definition:
collision_check_plugin.cpp:26
vigir_footstep_planning
vigir_footstep_planning::CollisionCheckPlugin::loadParams
bool loadParams(const vigir_generic_params::ParameterSet ¶ms=vigir_generic_params::ParameterSet()) override
Definition:
collision_check_plugin.cpp:13
vigir_footstep_planning::CollisionCheckPlugin::CollisionCheckPlugin
CollisionCheckPlugin(const std::string &name)
Definition:
collision_check_plugin.cpp:7
vigir_footstep_planning::CollisionCheckPlugin::reset
virtual void reset()
Resets the plugin to initial state.
Definition:
collision_check_plugin.cpp:36
vigir_footstep_planning::CollisionCheckPlugin::isCollisionCheckAvailable
virtual bool isCollisionCheckAvailable() const
Definition:
collision_check_plugin.cpp:45
vigir_footstep_planning::CollisionCheckPlugin::collision_check_flag_
unsigned int collision_check_flag_
Definition:
collision_check_plugin.h:78
vigir_footstep_planning_plugins
Author(s): Alexander Stumpf
autogenerated on Mon Jun 10 2019 15:47:39