Public Member Functions
collision_detection::CollisionPlugin Class Reference

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

#include <collision_plugin.h>

List of all members.

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

Definition at line 83 of file collision_plugin.h.

Definition at line 86 of file collision_plugin.h.


Member Function Documentation

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.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:46