collision_plugin.h

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#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/collision_detection/collision_env.h>
#include <moveit/planning_scene/planning_scene.h>
 
namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionPlugin);  // Defines CollisionPluginPtr, ConstPtr, WeakPtr... etc
 
class CollisionPlugin
{
public:
  CollisionPlugin()
  {
  }
  virtual ~CollisionPlugin()
  {
  }
 
  virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const = 0;
};
 
}  // namespace collision_detection