collision_plugin_loader.h

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#ifndef MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
#define MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H

#include <ros/ros.h>
#include <moveit/macros/class_forward.h>
#include <moveit/collision_detection/collision_plugin.h>

namespace collision_detection
{
class CollisionPluginLoader
{
public:
  CollisionPluginLoader();
  ~CollisionPluginLoader();

  void setupScene(ros::NodeHandle& nh, const planning_scene::PlanningScenePtr& scene);

  bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene, bool exclusive);

private:
  MOVEIT_CLASS_FORWARD(CollisionPluginLoaderImpl);
  CollisionPluginLoaderImplPtr loader_;
};

}  // namespace collision_detection

#endif  // MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H