00001 00026 #include <industrial_collision_detection/industrial_collision_detection_plugin.h> 00027 #include <pluginlib/class_list_macros.h> 00028 00029 00030 namespace collision_detection 00031 { 00032 00033 const std::string CollisionDetectorAllocatorIndustrial::NAME_ = "IndustrialFCL"; 00034 00035 bool IndustrialFCLPluginLoader::initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const 00036 { 00037 scene->setActiveCollisionDetector(CollisionDetectorAllocatorIndustrial::create(), exclusive); 00038 return true; 00039 } 00040 } 00041 00042 PLUGINLIB_EXPORT_CLASS(collision_detection::IndustrialFCLPluginLoader, collision_detection::CollisionPlugin)