00001 00026 #ifndef INDUSTRIAL_COLLISION_DETECTION_PLUGIN_H_ 00027 #define INDUSTRIAL_COLLISION_DETECTION_PLUGIN_H_ 00028 #include <moveit/collision_detection/collision_plugin.h> 00029 #include <moveit/collision_detection/collision_detector_allocator.h> 00030 #include <industrial_collision_detection/collision_detection/collision_robot_industrial.h> 00031 #include <industrial_collision_detection/collision_detection/collision_world_industrial.h> 00032 00033 00034 namespace collision_detection 00035 { 00037 class CollisionDetectorAllocatorIndustrial : 00038 public collision_detection::CollisionDetectorAllocatorTemplate< CollisionWorldIndustrial, 00039 CollisionRobotIndustrial, CollisionDetectorAllocatorIndustrial > 00040 { 00041 public: 00042 static const std::string NAME_; // defined in collision_world_industrial.cpp 00043 }; 00044 00048 class IndustrialFCLPluginLoader : public CollisionPlugin 00049 { 00050 public: 00051 virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const; 00052 }; 00053 } 00054 #endif // INDUSTRIAL_COLLISION_DETECTION_PLUGIN_H_