An allocator for a compatible CollisionWorld/CollisionRobot pair. More...
#include <collision_detector_allocator.h>
Public Member Functions | |
virtual CollisionRobotPtr | allocateRobot (const robot_model::RobotModelConstPtr &robot_model) const =0 |
virtual CollisionRobotPtr | allocateRobot (const CollisionRobotConstPtr &orig) const =0 |
virtual CollisionWorldPtr | allocateWorld (const WorldPtr &world) const =0 |
virtual CollisionWorldPtr | allocateWorld (const CollisionWorldConstPtr &orig, const WorldPtr &world) const =0 |
virtual const std::string & | getName () const =0 |
virtual | ~CollisionDetectorAllocator () |
An allocator for a compatible CollisionWorld/CollisionRobot pair.
Definition at line 49 of file collision_detector_allocator.h.
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inlinevirtual |
Definition at line 52 of file collision_detector_allocator.h.
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pure virtual |
create a new CollisionRobot given a robot_model
Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldType, CollisionRobotType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldHybrid, CollisionRobotHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldDistanceField, CollisionRobotDistanceField, CollisionDetectorAllocatorDistanceField >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldFCL, CollisionRobotFCL, CollisionDetectorAllocatorFCL >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldAllValid, CollisionRobotAllValid, CollisionDetectorAllocatorAllValid >.
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pure virtual |
create a new CollisionRobot by copying an existing CollisionRobot of the same type.
Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldType, CollisionRobotType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldHybrid, CollisionRobotHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldDistanceField, CollisionRobotDistanceField, CollisionDetectorAllocatorDistanceField >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldFCL, CollisionRobotFCL, CollisionDetectorAllocatorFCL >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldAllValid, CollisionRobotAllValid, CollisionDetectorAllocatorAllValid >.
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pure virtual |
create a new CollisionWorld for checking collisions with the supplied world.
Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldType, CollisionRobotType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldHybrid, CollisionRobotHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldDistanceField, CollisionRobotDistanceField, CollisionDetectorAllocatorDistanceField >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldFCL, CollisionRobotFCL, CollisionDetectorAllocatorFCL >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldAllValid, CollisionRobotAllValid, CollisionDetectorAllocatorAllValid >.
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pure virtual |
create a new CollisionWorld by copying an existing CollisionWorld of the same type.s The world must be either the same world as used by or a copy of that world which has not yet been modified.
Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldType, CollisionRobotType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldHybrid, CollisionRobotHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldDistanceField, CollisionRobotDistanceField, CollisionDetectorAllocatorDistanceField >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldFCL, CollisionRobotFCL, CollisionDetectorAllocatorFCL >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldAllValid, CollisionRobotAllValid, CollisionDetectorAllocatorAllValid >.
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pure virtual |
A unique name identifying the CollisionWorld/CollisionRobot pairing.
Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldType, CollisionRobotType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldHybrid, CollisionRobotHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldDistanceField, CollisionRobotDistanceField, CollisionDetectorAllocatorDistanceField >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldFCL, CollisionRobotFCL, CollisionDetectorAllocatorFCL >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldAllValid, CollisionRobotAllValid, CollisionDetectorAllocatorAllValid >.