Public Member Functions | List of all members
collision_detection::CollisionPlugin Class Referenceabstract

Plugin API for loading a custom collision detection robot/world. More...

#include <collision_plugin.h>

Inheritance diagram for collision_detection::CollisionPlugin:
Inheritance graph

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,
        static const std::string NAME_;
    const std::string MyCollisionDetectorAllocator::NAME_("my_checker");
    namespace collision_detection
    class MyCollisionDetectionLoader : public CollisionPlugin
      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

◆ CollisionPlugin()

collision_detection::CollisionPlugin::CollisionPlugin ( )

Definition at line 83 of file collision_plugin.h.

◆ ~CollisionPlugin()

virtual collision_detection::CollisionPlugin::~CollisionPlugin ( )

Definition at line 86 of file collision_plugin.h.

Member Function Documentation

◆ initialize()

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.

Implemented in collision_detection::CollisionDetectorFCLPluginLoader.

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

Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Mar 17 2022 02:51:04